diff --git a/README.md b/README.md
index 395a398..84bcd36 100644
--- a/README.md
+++ b/README.md
@@ -1,6 +1,6 @@
# roslibdart
-The is a fork of the original roslib by @artrmz, @TimWhiting, @artrmz. 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 ros2 and dart2.
+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:
@@ -9,14 +9,7 @@ The is a fork of the original roslib by @artrmz, @TimWhiting, @artrmz. roslibdar
- [x] Service object (call, advertise, unadvertise)
- [x] Request object (provides typing and naming to any potential ROS request)
- [x] Param object (get, set, delete)
-- [ ] Actionlib:
- - [ ] ActionClient
- - [ ] ActionListener
- - [ ] Goal
- - [ ] SimpleActionServer
-- [ ] Support TCP connections
-- [ ] TFClient (listen to TFs from tf2_web_republisher)
-- [ ] URDF (Box, Color, Cylinder, Joint, Material, Mesh, Model, Sphere, Types, Visual)
+
## Usage
### Install rosbridge
@@ -32,6 +25,7 @@ colcon build
```
### Run ros bridge
```
+cd ros_ws
source install/local_setup.bash
ros2 launch rosbridge_server rosbridge_websocket_launch.xml
```
@@ -51,3 +45,7 @@ flutter run -d linux
```
+## Links
+- [ROSBridge Protocol v2.0](https://github.com/biobotus/rosbridge_suite/blob/master/ROSBRIDGE_PROTOCOL.md).
+- [Original roslib library from Conrad Heidebrecht](https://github.com/Eternali/roslib)
+- [RosBridge server implementation](https://github.com/RobotWebTools/rosbridge_suite)
\ No newline at end of file
diff --git a/example/publisher/README.md b/example/publisher/README.md
new file mode 100644
index 0000000..4f3617e
--- /dev/null
+++ b/example/publisher/README.md
@@ -0,0 +1,16 @@
+# publisher
+
+A new Flutter project.
+
+## Getting Started
+
+This project is a starting point for a Flutter application.
+
+A few resources to get you started if this is your first Flutter project:
+
+- [Lab: Write your first Flutter app](https://flutter.dev/docs/get-started/codelab)
+- [Cookbook: Useful Flutter samples](https://flutter.dev/docs/cookbook)
+
+For help getting started with Flutter, view our
+[online documentation](https://flutter.dev/docs), which offers tutorials,
+samples, guidance on mobile development, and a full API reference.
diff --git a/example/publisher/analysis_options.yaml b/example/publisher/analysis_options.yaml
new file mode 100644
index 0000000..61b6c4d
--- /dev/null
+++ b/example/publisher/analysis_options.yaml
@@ -0,0 +1,29 @@
+# This file configures the analyzer, which statically analyzes Dart code to
+# check for errors, warnings, and lints.
+#
+# The issues identified by the analyzer are surfaced in the UI of Dart-enabled
+# IDEs (https://dart.dev/tools#ides-and-editors). The analyzer can also be
+# invoked from the command line by running `flutter analyze`.
+
+# The following line activates a set of recommended lints for Flutter apps,
+# packages, and plugins designed to encourage good coding practices.
+include: package:flutter_lints/flutter.yaml
+
+linter:
+ # The lint rules applied to this project can be customized in the
+ # section below to disable rules from the `package:flutter_lints/flutter.yaml`
+ # included above or to enable additional rules. A list of all available lints
+ # and their documentation is published at
+ # https://dart-lang.github.io/linter/lints/index.html.
+ #
+ # Instead of disabling a lint rule for the entire project in the
+ # section below, it can also be suppressed for a single line of code
+ # or a specific dart file by using the `// ignore: name_of_lint` and
+ # `// ignore_for_file: name_of_lint` syntax on the line or in the file
+ # producing the lint.
+ rules:
+ # avoid_print: false # Uncomment to disable the `avoid_print` rule
+ # prefer_single_quotes: true # Uncomment to enable the `prefer_single_quotes` rule
+
+# Additional information about this file can be found at
+# https://dart.dev/guides/language/analysis-options
diff --git a/example/publisher/android/.gitignore b/example/publisher/android/.gitignore
new file mode 100644
index 0000000..6f56801
--- /dev/null
+++ b/example/publisher/android/.gitignore
@@ -0,0 +1,13 @@
+gradle-wrapper.jar
+/.gradle
+/captures/
+/gradlew
+/gradlew.bat
+/local.properties
+GeneratedPluginRegistrant.java
+
+# Remember to never publicly share your keystore.
+# See https://flutter.dev/docs/deployment/android#reference-the-keystore-from-the-app
+key.properties
+**/*.keystore
+**/*.jks
diff --git a/example/publisher/android/app/build.gradle b/example/publisher/android/app/build.gradle
new file mode 100644
index 0000000..6c7c16b
--- /dev/null
+++ b/example/publisher/android/app/build.gradle
@@ -0,0 +1,68 @@
+def localProperties = new Properties()
+def localPropertiesFile = rootProject.file('local.properties')
+if (localPropertiesFile.exists()) {
+ localPropertiesFile.withReader('UTF-8') { reader ->
+ localProperties.load(reader)
+ }
+}
+
+def flutterRoot = localProperties.getProperty('flutter.sdk')
+if (flutterRoot == null) {
+ throw new GradleException("Flutter SDK not found. Define location with flutter.sdk in the local.properties file.")
+}
+
+def flutterVersionCode = localProperties.getProperty('flutter.versionCode')
+if (flutterVersionCode == null) {
+ flutterVersionCode = '1'
+}
+
+def flutterVersionName = localProperties.getProperty('flutter.versionName')
+if (flutterVersionName == null) {
+ flutterVersionName = '1.0'
+}
+
+apply plugin: 'com.android.application'
+apply plugin: 'kotlin-android'
+apply from: "$flutterRoot/packages/flutter_tools/gradle/flutter.gradle"
+
+android {
+ compileSdkVersion flutter.compileSdkVersion
+
+ compileOptions {
+ sourceCompatibility JavaVersion.VERSION_1_8
+ targetCompatibility JavaVersion.VERSION_1_8
+ }
+
+ kotlinOptions {
+ jvmTarget = '1.8'
+ }
+
+ sourceSets {
+ main.java.srcDirs += 'src/main/kotlin'
+ }
+
+ defaultConfig {
+ // TODO: Specify your own unique Application ID (https://developer.android.com/studio/build/application-id.html).
+ applicationId "com.example.publisher"
+ minSdkVersion flutter.minSdkVersion
+ targetSdkVersion flutter.targetSdkVersion
+ versionCode flutterVersionCode.toInteger()
+ versionName flutterVersionName
+ }
+
+ buildTypes {
+ release {
+ // TODO: Add your own signing config for the release build.
+ // Signing with the debug keys for now, so `flutter run --release` works.
+ signingConfig signingConfigs.debug
+ }
+ }
+}
+
+flutter {
+ source '../..'
+}
+
+dependencies {
+ implementation "org.jetbrains.kotlin:kotlin-stdlib-jdk7:$kotlin_version"
+}
diff --git a/example/publisher/android/app/src/debug/AndroidManifest.xml b/example/publisher/android/app/src/debug/AndroidManifest.xml
new file mode 100644
index 0000000..144af91
--- /dev/null
+++ b/example/publisher/android/app/src/debug/AndroidManifest.xml
@@ -0,0 +1,7 @@
+
+
+
+
diff --git a/example/publisher/android/app/src/main/AndroidManifest.xml b/example/publisher/android/app/src/main/AndroidManifest.xml
new file mode 100644
index 0000000..041eb26
--- /dev/null
+++ b/example/publisher/android/app/src/main/AndroidManifest.xml
@@ -0,0 +1,34 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/example/publisher/android/app/src/main/kotlin/com/example/publisher/MainActivity.kt b/example/publisher/android/app/src/main/kotlin/com/example/publisher/MainActivity.kt
new file mode 100644
index 0000000..421acc0
--- /dev/null
+++ b/example/publisher/android/app/src/main/kotlin/com/example/publisher/MainActivity.kt
@@ -0,0 +1,6 @@
+package com.example.publisher
+
+import io.flutter.embedding.android.FlutterActivity
+
+class MainActivity: FlutterActivity() {
+}
diff --git a/example/publisher/android/app/src/main/res/drawable-v21/launch_background.xml b/example/publisher/android/app/src/main/res/drawable-v21/launch_background.xml
new file mode 100644
index 0000000..f74085f
--- /dev/null
+++ b/example/publisher/android/app/src/main/res/drawable-v21/launch_background.xml
@@ -0,0 +1,12 @@
+
+
+
+