dotnet ROSMSG

dotnet ROSMSG is a .Net Core global tool used to build .Net Packages from ROS message packages.

Installation

ROS Message CLI for .Net is a .NET tool available as NuGet Package.

dotnet tool install -g RobSharper.Ros.MessageCli

Usage

dotnet rosmsg build <ROS_MESSAGE_PACKAGE_FOLDER> <DESTINATION_FOLDER> [--filter FILTER_EXPR[ FILTER_EXPR]*] [--nupkg] [--dll]

Argument	Description
ROS_MESSAGE_PACKAGE_FOLDER	Path to a directory containing one or more ROS message packages.
DESTINATION_FOLDER	Folder where the generated messages will be copied.
--filter FILTER_EXPR[ FILTER_EXPR]*	Only create message packages matching the given filter expression. FILTER_EXPR is the name of a package. It can start or end with * to filter for a ends-with or starts-with exression. Seperate multiple FILTER_EXPR with a space. Examples: --filter std_msgs nav_msgs my_*
--nupkg	[Default] Create nuget package.
--dll	Create dll.
--required-packages PATH[ PATH]*	Add other directories containing required packages (e.g. '/opt/ros/melodic/share'). These packages are only generated if other generated packages depends on it.
--no-ros-package-path	Do not use $ROS_PACKAGE_PATH as source for required packages.

Use help option to get further help:

dotnet rosmsg build --help

Configuration

dotnet rosmsg --help

Custom NuGet feeds

ROSMSG supports custom NuGet feeds. The official NuGet feed nuget.org is added by default.

Print usage:

dotnet rosmsg config-feeds --help

List configured NuGet feeds:

dotnet rosmsg config-feeds

Add new feed:

dotnet rosmsg config-feeds add <NAME> <SOURCE_URL|SOURCE_PATH> [<PROTOCOL_VERSION>]

Remove an existing feed:

dotnet rosmsg config-feeds remove <NAME>

Default output format

Defines the default output format. This can either be nupkg or dll.

Print usage:

dotnet rosmsg config-output --help

Show current value:

dotnet rosmsg config-output

Set new value:

dotnet rosmsg config-output nupkg
dotnet rosmsg config-output dll

Default namespace

Defines the default root namespace for generated messages.

Print usage:

dotnet rosmsg config-namespace --help

Show current value:

dotnet rosmsg config-namespace

Set new value:

dotnet rosmsg config-namespace <NAMESPACE>

Default code generator

dotnet ROSMSG supports code generators for different .net ROS implementations.

Supported generators are:

Config option	ROS implementation	Notes
robsharper	RobSharper.ROS	(Default) RobSharper.Ros is a set of packages and tools from JOANNEUM RESEARCH ROBOTICS.
rosnet	ROS.Net	This generator uses the Xamla fork of ROS.Net, which is available as NuGet package. WARNING: This code generator is currently not working in public infrastructures and is intended only for JOANNEUM RESEARCH internal scenarios.

Print usage:

dotnet rosmsg config-codegenerator --help

Show current value:

dotnet rosmsg config-codegenerator

Set new value:

dotnet rosmsg config-codegenerator <robsharper|rosnet>