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ros2cs repository

csharp dotnet unity3d ros ros2 rcl
Repo symbol

ros2cs repository

csharp dotnet unity3d ros ros2 rcl
Repo symbol

ros2cs repository

csharp dotnet unity3d ros ros2 rcl
Repo symbol

ros2cs repository

csharp dotnet unity3d ros ros2 rcl
Repo symbol

ros2cs repository

csharp dotnet unity3d ros ros2 rcl ros2cs_common ros2cs_core ros2cs_examples ros2cs_tests rosidl_generator_cs

Repository Summary

Description A C# (.Net) implementation of ros2 client library (rcl), enabling communication between ros2 ecosystem and C#/.Net applications such as Unity3D
Checkout URI https://github.com/robotecai/ros2cs.git
VCS Type git
VCS Version develop
Last Updated 2023-09-22
Dev Status UNKNOWN
Released UNRELEASED
Tags csharp dotnet unity3d ros ros2 rcl
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
ros2cs_common 2.0.0
ros2cs_core 2.0.0
ros2cs_examples 2.0.0
ros2cs_tests 1.0.0
rosidl_generator_cs 2.0.0

README

ROS2CS - Ubuntu 20.04 and Ubuntu 22.04

Building

Prerequisites

General

  • ROS2 installed on the system, along with test-msgs, cyclonedds and fastrtps packages
  • vcstool package - see here
  • .NET 6.0 sdk - see here 
# Install rmw and tests-msgs for your ROS2 distribution
apt install -y ros-${ROS_DISTRO}-test-msgs
apt install -y ros-${ROS_DISTRO}-fastrtps ros-${ROS_DISTRO}-rmw-fastrtps-cpp
apt install -y ros-${ROS_DISTRO}-cyclonedds ros-${ROS_DISTRO}-rmw-cyclonedds-cpp

# Install vcstool package
curl -s https://packagecloud.io/install/repositories/dirk-thomas/vcstool/script.deb.sh | sudo bash
sudo apt-get update
sudo apt-get install -y python3-vcstool

# Install Microsoft packages (Ubuntu 20.04 only)
wget https://packages.microsoft.com/config/ubuntu/$(lsb_release -rs)/packages-microsoft-prod.deb -O packages-microsoft-prod.deb
sudo dpkg -i packages-microsoft-prod.deb
rm packages-microsoft-prod.deb

# install .NET core 6.0 SDK
sudo apt-get update; \
  sudo apt-get install -y apt-transport-https && \
  sudo apt-get update && \
  sudo apt-get install -y dotnet-sdk-6.0

Optional

  • patchelf tool for standalone version builds
sudo apt install patchelf

Steps

  • Clone this project
  • Source your ROS2 installation
  # Change foxy to whatever version you are using
  source /opt/ros/foxy/setup.bash
  • Navigate to the top project folder and pull required repositories
  ./get_repos.sh
  • You can run get_repos script with --get-custom-messages argument to fetch extra messages from custom_messages.repos file.
  • It will use vcstool to download required ROS2 packages. By default, this will get repositories as set in ros2_${ROS_DISTRO}.repos.
  • Build package in overlay mode:
  ./build.sh

or to build a standalone version:

  ./build.sh --standalone
  • It invokes colcon_build with --merge-install argument to simplify libraries installation.
  • You can build tests by adding --with-tests argument to command.
  • To test your build please check main readme Testing section

CONTRIBUTING

Repo symbol

ros2cs repository

csharp dotnet unity3d ros ros2 rcl
Repo symbol

ros2cs repository

csharp dotnet unity3d ros ros2 rcl
Repo symbol

ros2cs repository

csharp dotnet unity3d ros ros2 rcl
Repo symbol

ros2cs repository

csharp dotnet unity3d ros ros2 rcl