ROS# is a set of open source software libraries and tools in C# for communicating with ROS from .NET applications, in particular Unity.

Find some examples what you can do with ROS# here.

Recent Changes

This commit comes with major changes in how ROS# deals with URDF import/export

The biggest changes are:

• Urdf Libary: The UrdfImporter project was renamed to Urdf. It now supports the ability to both read from and write to URDF files.
• Create, Modify, and Export URDF models in Unity: ROS# now supports creating and exporting URDF models directly in Unity. It is also possible to modify and re-export an existing URDF model.
• Transfer URDF files from Unity to ROS: Previously it was only possible to transfer/import URDF files from ROS to Unity. Now ROS# can send a URDF and all its meshes from Unity to a package in ROS.

Please see the Wiki, especially section 3.2, for an explanation of how to use the new framework.

Contents

• Libraries: .NET solution for RosBridgeClient, Urdf
• ROS: ROS packages used by ROS#.
• Unity3D: Unity project containing
  • Unity-specific extensions to RosBridgeClient and Urdf
  • example scenes and reference code (see Wiki)

Releases

In addition to the source code, Releases contain:

• a Unity Asset Package containing the Unity3D project assets:
  • to be imported in other Unity projects using ROS#.
• binaries of RosBridgeClient and Urdf
  • to be used in other .NET projects using these libraries.

The latest release is also being published in the Unity Asset Store.

Please get the development version with latest changes and fixes directly from the tip of this master branch.

Licensing

ROS# is open source under the Apache 2.0 license and is free for commercial use.

External Dependencies

RosBridgeClient requires:

• websocket-sharp.dll from websocket-sharp provided under MIT License (required only when using WebSocketSharpProtocol).
• Newtonsoft.Json.dll from NewtonSoft Json.Net provided under MIT License.

Platform Support

• ROS# is developed for Windows and has successfully been used on Linux and iOS by community members.

• The RosSharp solution requires .NET Framework 4.6 and Visual Studio 2017 to compile.

• The Unity Project Unity3D requires Unity 2018.x. Make sure to set the scripting runtime version to .NET 4.x Equivalent (see Wiki page).

• Please find a UWP version of ROS# here.

• Please find a .NET Standard 2.0 version of UrdfImporter here.

Further Info

• Read the Wiki
• Contact the project team
• Contributors and Acknowledgements

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© Siemens AG, 2017-2018

Author: Dr. Martin Bischoff (martin.bischoff@siemens.com)