The Information centric networking paradigm has proven particularly useful for the constrained Internet of Things (IoT), in which nodes are challenged by end-to-end communication without network assistance. This work focuses on the interaction between possibly mobile sensors and actuators in such IoT regimes which deploy the Named-Data Networking (NDN) architecture. Constrained nodes in interactive scenarios need to be highly responsive but can only manage limited control state. We argue that the request-driven NDN networking paradigm, which prevents pushing of unsolicited data, should be preserved to confine the attack surface, whereas unsolicited link-local signaling can accelerate responses without sacrificing security. In this paper, we contribute HoP-and-Pull (HoPP), a robust publish-subscribe scheme for typical IoT scenarios that targets low-power and lossy wireless networks running hundreds of resource constrained devices at intermittent connectivity. Our approach limits in-memory forwarding state to a minimum and naturally supports producer mobility, a temporary partitioning of networks, data aggregation on intermediary hops, and near real-time reactivity. We thoroughly evaluate the protocol by experiments in a realistic, large testbed with varying numbers of constrained devices, each interconnected via IEEE 802.15.4 wireless LoWPANs. We compare HoPP with common ICN pub-sub and mobility schemes as well as with basic MIPv6 and anchor-based multicast mobility. Implementations are built on CCN-lite with RIOT and support experiments using various single- and multi-hop scenarios.