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Tue Feb 22 10:04:37 PM HKT 2022

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Terence Tong 2022-02-22 22:04:37 +08:00
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README.md
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@ -31,7 +31,7 @@ ros2 launch rosbridge_server rosbridge_websocket_launch.xml
``` ```
## Testing publisher ## Testing publisher
### Run topic publisher ### Demostration: running ros publisher and roslibdart subscriber
``` ```
# Assume ros_ws is your workspace # Assume ros_ws is your workspace
cp -r rospackage/* ~/ros_ws/src/ cp -r rospackage/* ~/ros_ws/src/
@ -40,12 +40,12 @@ colcon build
source install/local_setup.bash source install/local_setup.bash
ros2 run tutorial publisher ros2 run tutorial publisher
``` ```
### Fire up flutter subscriber
``` ```
cd example/subscriber cd example/subscriber
flutter run -d linux flutter run -d linux
``` ```
### Subscribe using roslibdart ### Example code of using roslibdart to subscribe
``` ```
ros = Ros(url: 'ws://127.0.0.1:9090'); 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); chatter = Topic(ros: ros, name: '/topic', type: "std_msgs/String", reconnectOnClose: true, queueLength: 10, queueSize: 10);
@ -61,16 +61,16 @@ Future<void> subscribeHandler(Map<String, dynamic> msg) async {
## Testing subscriber ## Testing subscriber
### Run topic subscriber ### Demostration: running ros subscriber and roslibdart publisher
``` ```
ros2 run tutorial subscriber ros2 run tutorial subscriber
``` ```
### Fire up flutter publisher
``` ```
cd example/publisher cd example/publisher
flutter run -d linux flutter run -d linux
``` ```
### Publish using roslibdart ### Example code of using roslibdart to Publish
``` ```
ros = Ros(url: 'ws://127.0.0.1:9090'); 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); chatter = Topic(ros: ros, name: '/topic', type: "std_msgs/String", reconnectOnClose: true, queueLength: 10, queueSize: 10);
@ -80,15 +80,16 @@ await chatter.publish(json);
``` ```
## Testing call ## Testing call
### Run tutorial addtwoint service ### Demostration: running roslibdart caller and ros service
``` ```
ros2 run tutorial service ros2 run tutorial service
``` ```
``` ```
cd example/client cd example/caller
flutter run -d linux flutter run -d linux
``` ```
### Call a service using roslibdart ### Example code of using roslibdart to call a service
``` ```
ros = Ros(url: 'ws://127.0.0.1:9090'); ros = Ros(url: 'ws://127.0.0.1:9090');
service = Service(name: 'add_two_ints', ros: ros, type: "tutorial_interfaces/AddTwoInts"); service = Service(name: 'add_two_ints', ros: ros, type: "tutorial_interfaces/AddTwoInts");
@ -97,22 +98,19 @@ Map<String, dynamic> json = {"a": 1, "b": 2};
Map<String, dynamic> result = await service.call(json); Map<String, dynamic> result = await service.call(json);
msgToPublished = result['sum']; msgToPublished = result['sum'];
``` ```
## Testing providing service ## Testing providing service
### Fire up flutter service ### Demostration: running roslibdart service and ros caller
``` ```
cd example/service cd example/service
flutter run -d linux flutter run -d linux
``` ```
### Run tutorial call
```
ros2 run tutorial client
```
### Run the client from shell
``` ```
ros2 run tutorial client 2 3 ros2 run tutorial caller 2 3
``` ```
### Provide service using roslibdart ### Example code of using roslibdart to provide service
``` ```
ros = Ros(url: 'ws://127.0.0.1:9090'); ros = Ros(url: 'ws://127.0.0.1:9090');
service = Service(name: 'add_two_ints', ros: ros, type: "tutorial_interfaces/AddTwoInts"); service = Service(name: 'add_two_ints', ros: ros, type: "tutorial_interfaces/AddTwoInts");