ros2_client 0.1.0

A type-safe, streaming ROS 2 client for Dart and Flutter. Topics, services, actions, parameters and introspection over rosbridge.

Changelog

0.1.0

Initial release.

• Code generator (dart run ros2_client:generate) for .msg, .srv and .action definitions, with automatic transitive dependency resolution; generated services and actions register typed codecs, so callService and sendGoal need no type strings

• sendGoal takes an optional timeout: a goal sent to an action server that does not exist gets no reply at all, and would otherwise never complete

• CBOR is now the default wire encoding: rosbridge serialises non-finite floats as JSON null, so inf and nan are indistinguishable over plain JSON

• Connection management with exponential backoff, jitter, and a stability window so a flapping bridge is backed off rather than hammered

• Typed topic subscribe/advertise via a message codec registry

• Services, ROS 2 actions (goal/feedback/result/cancel), and parameters

• Full ROS 2 QoS profiles, including sensorData and transientLocal presets

• JSON and CBOR wire codecs; CBOR typed arrays decode without a per-element copy. Handles base64 uint8[] and message fragmentation

• Non-finite floats are encoded as null on the wire. jsonEncode throws on inf/nan, so republishing a LaserScan whose out-of-range beams are inf previously crashed

• tf2 transforms: TfBuffer with tree walking, time interpolation and slerp, TfListener feeding it from /tf and /tf_static, and rigid-body maths on the geometry_msgs types

• Graph introspection through rosapi, with timeouts sized for how slow those graph-wide queries actually are

• std_msgs, geometry_msgs, sensor_msgs and nav_msgs core types