138 lines
4.0 KiB
Markdown
138 lines
4.0 KiB
Markdown
# roslibdart
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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.
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## List of feature implementation statuses (essentially a list of features required to reach roslibjs's level)
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- [X] Core:
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- [x] ROS connection object
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- [x] Topic object (subscribe, unsubscribe, publish, advertise, unadvertise)
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- [x] Service object (call, advertise, unadvertise)
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- [x] Request object (provides typing and naming to any potential ROS request)
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- [x] Param object (get, set, delete)
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## Usage
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### Install rosbridge
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You can either
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```
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# install using apt-get
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sudo apt-get install ros-foxy-rosbridge-server
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# or you can clone from github
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cd ros_ws/src
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git clone https://github.com/RobotWebTools/rosbridge_suite
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cd ..
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colcon build
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```
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### Run ros bridge
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```
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cd ros_ws
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source install/local_setup.bash
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ros2 launch rosbridge_server rosbridge_websocket_launch.xml
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```
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## Testing publisher
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### Demostration: running ros publisher and roslibdart subscriber
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```
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# Assume ros_ws is your workspace
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cp -r rospackage/* ~/ros_ws/src/
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cd ~/ros_ws
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colcon build
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source install/local_setup.bash
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ros2 run tutorial publisher
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```
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```
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cd example/subscriber
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flutter run -d linux
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```
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### Example code of using roslibdart to subscribe
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```
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ros = Ros(url: 'ws://127.0.0.1:9090');
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chatter = Topic(ros: ros, name: '/topic', type: "std_msgs/String", reconnectOnClose: true, queueLength: 10, queueSize: 10);
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ros.connect();
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await chatter.subscribe(subscribeHandler);
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Future<void> subscribeHandler(Map<String, dynamic> msg) async {
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msgReceived = json.encode(msg);
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setState(() {});
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}
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```
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## Testing subscriber
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### Demostration: running ros subscriber and roslibdart publisher
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```
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ros2 run tutorial subscriber
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```
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```
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cd example/publisher
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flutter run -d linux
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```
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### Example code of using roslibdart to Publish
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```
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ros = Ros(url: 'ws://127.0.0.1:9090');
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chatter = Topic(ros: ros, name: '/topic', type: "std_msgs/String", reconnectOnClose: true, queueLength: 10, queueSize: 10);
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ros.connect();
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Map<String, dynamic> json = {"data": msgToPublished.toString()};
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await chatter.publish(json);
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```
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## Testing call
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### Demostration: running roslibdart caller and ros service
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```
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ros2 run tutorial service
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```
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```
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cd example/caller
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flutter run -d linux
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```
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### Example code of using roslibdart to call a service
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```
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ros = Ros(url: 'ws://127.0.0.1:9090');
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service = Service(name: 'add_two_ints', ros: ros, type: "tutorial_interfaces/AddTwoInts");
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ros.connect();
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Map<String, dynamic> json = {"a": 1, "b": 2};
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Map<String, dynamic> result = await service.call(json);
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msgToPublished = result['sum'];
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```
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## Testing providing service
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### Demostration: running roslibdart service and ros caller
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```
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cd example/service
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flutter run -d linux
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```
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```
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ros2 run tutorial caller 2 3
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```
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### Example code of using roslibdart to provide service
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```
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ros = Ros(url: 'ws://127.0.0.1:9090');
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service = Service(name: 'add_two_ints', ros: ros, type: "tutorial_interfaces/AddTwoInts");
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ros.connect();
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await service.advertise(serviceHandler);
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Future<Map<String, dynamic>>? serviceHandler(Map<String, dynamic> args) async {
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Map<String, dynamic> response = {};
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response['sum'] = args['a'] + args['b'];
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return response;
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}
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```
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## Playstsation control pad to control turtlesim
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Please take a look at example/pspad
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## Links
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- [ROSBridge Protocol v2.0](https://github.com/biobotus/rosbridge_suite/blob/master/ROSBRIDGE_PROTOCOL.md).
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- [Original roslib library from Conrad Heidebrecht](https://github.com/Eternali/roslib)
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- [RosBridge server implementation](https://github.com/RobotWebTools/rosbridge_suite)
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- [roslibjs example](https://github.com/RobotWebTools/roslibjs/blob/develop/examples/simple.html)
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