ros_dart

Dart 에서 사용할 수 있는 ROS Client

설치 방법 💻

❗ ros_dart 패키지를 사용하기 위해서는 Dart SDK 혹은 Flutter SDK 가 필요합니다.

ros_dart를 pubspec.yaml에 추가:

dependencies:
  ros_dart:
    git:
      url: https://github.com/plaif-dev/ros_dart.git
      ref: main

기본 사용법 ⌨️

1. Service

import 'package:ros_dart/ros_dart.dart';

void main() async {
  final ros = Ros.implement();

  await ros.connect(Uri.parse('ws://127.0.0.1:9090'));
  
  final request = RosService.call(service: '/clear', args: []);

  final response = ros.send(request);
}

2. Topic

import 'package:ros_dart/ros_dart.dart';

void main() async {
  final ros = Ros.implement();

  await ros.connect(Uri.parse('ws://127.0.0.1:9090'));

  final request = RosTopic.advertise(
                topic: '/turtle1/cmd_vel',
                type: 'geometry_msgs/Twist',
  );

  final Stream<Map<String,dynamic>> response = ros.send(request);
}

3. Param

import 'package:ros_dart/ros_dart.dart';

void main() async {
  final ros = Ros.implement();

  await ros.connect(Uri.parse('ws://127.0.0.1:9090'));

  final request = RosTopic.advertise(name: '/background_g');

  final Stream<Map<String,dynamic>> response = ros.send(request);
}

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