roslibdart

# install using apt-get
sudo apt-get install ros-foxy-rosbridge-server
#  or you can clone from github
cd ros_ws/src
git clone https://github.com/RobotWebTools/rosbridge_suite
cd ..
colcon build

cd ros_ws
source install/local_setup.bash
ros2 launch rosbridge_server rosbridge_websocket_launch.xml

# Assume ros_ws is your workspace
cp -r rospackage/* ~/ros_ws/src/
cd ~/ros_ws
colcon build
source install/local_setup.bash
ros2 run tutorial publisher

cd example/subscriber
flutter run -d linux

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);
ros.connect();
await chatter.subscribe(subscribeHandler);

Future<void> subscribeHandler(Map<String, dynamic> msg) async {
  msgReceived = json.encode(msg);
  setState(() {});
}

ros2 run tutorial subscriber

cd example/publisher
flutter run -d linux

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);
ros.connect();
Map<String, dynamic> json = {"data": msgToPublished.toString()};
await chatter.publish(json);

ros2 run tutorial service

cd example/caller
flutter run -d linux

ros = Ros(url: 'ws://127.0.0.1:9090');
service = Service(name: 'add_two_ints', ros: ros, type: "tutorial_interfaces/AddTwoInts");
ros.connect();
Map<String, dynamic> json = {"a": 1, "b": 2};
Map<String, dynamic> result = await service.call(json);
msgToPublished = result['sum'];

cd example/service
flutter run -d linux

ros2 run tutorial caller 2 3

ros = Ros(url: 'ws://127.0.0.1:9090');
service = Service(name: 'add_two_ints', ros: ros, type: "tutorial_interfaces/AddTwoInts");
ros.connect();
await service.advertise(serviceHandler);

Future<Map<String, dynamic>>? serviceHandler(Map<String, dynamic> args) async {
  Map<String, dynamic> response = {};
  response['sum'] = args['a'] + args['b'];
  return response;
}