ROS2 for Objective C and iOS

Build status

Target	Status
macOS
iOS

Introduction

This is a set of projects (bindings, code generator, examples and more) that enables developers to write ROS2 applications in Objective C on macOS and iOS (iPhone, iPad)

Besides this repository itself, there’s also:

• https://github.com/esteve/ros2_ios_examples, examples for iOS
• https://github.com/esteve/ros2_objc_examples, examples for macOS

Does this support Swift?

Yes. I decided to target Objective C since I found it is easier to build Swift applications on top of Objective C, than the opposite.

Does this work on iOS?

Yep! Make sure to use this fork as your DDS vendor. Even though the name of the branch is “cpp11-android”, I ended up adding support for iOS on top of it.

Features

The current set of features include:

• Generation of all builtin ROS types
• Support for publishers and subscriptions
• Clients and services
• Support for iOS (iPhone, iPad)

Sounds great, how can I try this out?

The following steps show how to build the examples for both macOS and iOS.

macOS

mkdir -p ~/ros2_objc_ws/src
cd ~/ros2_objc_ws
wget https://raw.githubusercontent.com/esteve/ros2_objc/master/ros2_objc_macos.repos
vcs import ~/ros2_objc_ws/src < ros2_objc_macos.repos
src/ament/ament_tools/scripts/ament.py build --isolated

Now you can just run a bunch of examples.

Talker and Listener

Talker:

. ~/ros2_objc_ws/install_isolated/local_setup.sh

ROSTalker

Listener:

. ~/ros2_objc_ws/install_isolated/local_setup.sh

ROSListener

Client and Service

Service:

. ~/ros2_objc_ws/install_isolated/local_setup.sh

ROSAddTwoIntsService

Client:

. ~/ros2_objc_ws/install_isolated/local_setup.sh

ROSAddTwoIntsClientAsync

You can also combine any scenario where the talker/listener or client/service are written in Objective C, Java, Python and C++ and they should talk to each other.

iOS

The iOS setup is slightly more complex. If you do not have a jailbroken device, you will have to sign the resulting apps, which is much easier to do on Xcode’s IDE than the command line.

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