This source enables an ESP OTA update to be triggered via MQTT. You simply supply the hostname/binfile and the ESP parses the URL. Afterwards the update is started automatically. Currently this is only working on port 80!
Example MQTT message to trigger the update (Don't add any protocol to the hostname e.g. http://hostname/update.bin):
mosquitto_pub -h localhost -t "/update/url/" -m "hostname/update.bin"