roslibdart

The is a fork of the original roslib by Eternali Conrad Heidebrecht (@Eternali), Artur Rymarz (@artrmz), TimWhiting Tim Whiting (@TimWhiting). roslibdart is a library for communicating to a ROS node over websockets with rosbridge. It is heavily influenced by roslibjs and follows the same structure. This fork is an effort to update the library and make it compatible to null safety, dart2 and ros2.

List of feature implementation statuses (essentially a list of features required to reach roslibjs's level)

  • X Core:
    • x ROS connection object
    • x Topic object (subscribe, unsubscribe, publish, advertise, unadvertise)
    • x Service object (call, advertise, unadvertise)
    • x Request object (provides typing and naming to any potential ROS request)
    • x Param object (get, set, delete)

Usage

Install rosbridge

You can either

# install using apt-get
sudo apt-get install ros-foxy-rosbridge-server
#  or you can clone from github
cd ros_ws/src
git clone https://github.com/RobotWebTools/rosbridge_suite
cd ..
colcon build

Run ros bridge

cd ros_ws
source install/local_setup.bash
ros2 launch rosbridge_server rosbridge_websocket_launch.xml

Testing publisher

Demostration: running ros publisher and roslibdart subscriber

# Assume ros_ws is your workspace
cp -r rospackage/* ~/ros_ws/src/
cd ~/ros_ws
colcon build
source install/local_setup.bash
ros2 run tutorial publisher

cd example/subscriber
flutter run -d linux

Example code of using roslibdart to subscribe

ros = Ros(url: 'ws://127.0.0.1:9090');
chatter = Topic(ros: ros, name: '/topic', type: "std_msgs/String", reconnectOnClose: true, queueLength: 10, queueSize: 10);
ros.connect();
await chatter.subscribe(subscribeHandler);

Future<void> subscribeHandler(Map<String, dynamic> msg) async {
  msgReceived = json.encode(msg);
  setState(() {});
}

Testing subscriber

Demostration: running ros subscriber and roslibdart publisher

ros2 run tutorial subscriber

cd example/publisher
flutter run -d linux

Example code of using roslibdart to Publish

ros = Ros(url: 'ws://127.0.0.1:9090');
chatter = Topic(ros: ros, name: '/topic', type: "std_msgs/String", reconnectOnClose: true, queueLength: 10, queueSize: 10);
ros.connect();
Map<String, dynamic> json = {"data": msgToPublished.toString()};
await chatter.publish(json);

Testing call

Demostration: running roslibdart caller and ros service

ros2 run tutorial service

cd example/caller
flutter run -d linux

Example code of using roslibdart to call a service

ros = Ros(url: 'ws://127.0.0.1:9090');
service = Service(name: 'add_two_ints', ros: ros, type: "tutorial_interfaces/AddTwoInts");
ros.connect();
Map<String, dynamic> json = {"a": 1, "b": 2};
Map<String, dynamic> result = await service.call(json);
msgToPublished = result['sum'];

Testing providing service

Demostration: running roslibdart service and ros caller

cd example/service
flutter run -d linux

ros2 run tutorial caller 2 3

Example code of using roslibdart to provide service

ros = Ros(url: 'ws://127.0.0.1:9090');
service = Service(name: 'add_two_ints', ros: ros, type: "tutorial_interfaces/AddTwoInts");
ros.connect();
await service.advertise(serviceHandler);

Future<Map<String, dynamic>>? serviceHandler(Map<String, dynamic> args) async {
  Map<String, dynamic> response = {};
  response['sum'] = args['a'] + args['b'];
  return response;
}

Playstsation control pad to control turtlesim

Please take a look at example/pspad

PS Pad Screenshot

Libraries

core/core
core/param
core/request
core/ros
core/ros_html
core/ros_io
core/ros_stub
roslibdart
core/service
core/topic