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setup

Let's create a virtual environment named venv for all this Python magic:

sudo apt install python3-venv
python3 -m venv venv

Now let's activate the Python virtual environment so we can install all sorts of things into it without breaking our system:

. venv/bin/activate
pip install flask python-dotenv

Now run the flask+rclpy demo program in the venv, assuming you still have a shell with the venv activated in it:

. /opt/ros/foxy/setup.bash
./run.sh

In another shell, start publishing stuff onto /topic using a sample rclpy program:

. /opt/ros/foxy/setup.bash
ros2 run examples_rclpy_minimal_publisher publisher_member_function

In another terminal, query the latest message via flask whenever you want:

curl http://localhost:5000/latest_message

In another terminal, echo /flask_pub_topic:

. /opt/ros/foxy/setup.bash
ros2 topic echo /flask_pub_topic

In another terminal, ask Flask to publish a ros2 message onto that topic:

curl http://localhost:5000/publish_message