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.
- RosBridgeClient: a .NET API to ROS via rosbridge_suite
- UrdfImporter: a URDF file parser for .NET applications
- ROS some helpful ROS packages
- Unity3D: a Unity project providing Unity-specific extensions to RosBridgeClient and UrdfImporter
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 UrdfImporter
- to be used in other .NET projects using these libraries.
Please get the latest development version directly from the tip of the ROS# master branch.
ROS# is open source under the Apache 2.0 license and is free for commercial use.
RosBridgeClient uses the following 3rd party libraries:
websocket-sharp.dllfrom websocket-sharp provided under MIT License.NewtonSoft.Json.dllfrom NewtonSoft Json.Net provided under MIT License.
UrdfImporter uses the following 3rd party libraries:
MathNet.Numerics.dllfrom Math.NET Numerics provided under MIT License.System.Threading.dllfrom TaskParallelLibrary for .NET 3.5 provided under MS-EULA License.
Both RosBridgeClient and UrdfImporter are running on .NET Framework 3.5 as this is the .NET platform currently supported by official Unity releases.
For Non-Unity-Applications blommers kindly provides a .NET Standard 2.0 version of UrdfImporter.
-
Rahul Warrier for adjusting the code to enable its open source publication.
-
Verena Roehrl for providing ROS packages, Wiki pages and Unity example scenes.
-
Karl Henkel for providing the reference for the Unity STL mesh importer used in this project.
-
Jeremy Fix for providing some helpful ROS communication example scripts in Unity.
-
Berkay Alp Cakal for providing ROS packages, Wiki pages and Unity example scenes.
© Siemens AG, 2017-2018
Author: Dr. Martin Bischoff ([email protected])