This may not necessarily be the best answer, however, it works.
from("mqtt:test?subscribeTopicName=zaq.avila.send")
.process(new RestProcessor())
.to("jms:topic:zaq.avila.receive");
According to ActiveMQ Doc
MQTT messages are transformed into an JMS ByteMessage. Conversely, the body of any JMS Message is converted to a byte buffer to be the payload of an MQTT message.
I was able to publish an mqtt message to a topic, apply a processor and receive the modified message as an mqtt message even though the specified endpoint is JMS.
If anyone can think of any possible downfalls I would gladly appreciate hearing from you. In my opinion, this removes the need to publish messages as MQTT.