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Only released in EOL distros:  

cn-roscs-ros-pkg: roscs

Package Summary

roscs - Build CSharp

cn-roscs-ros-pkg: roscs

Package Summary

roscs - Build CSharp

roscs integrates C#-written programs into ROS. It only provides support for mono under linux. A Windows extension is not planned.

Setup

C# programs running under mono dynamically load assemblies (i.e., *.dll files) from one of three locations:

In the following, we assume that $MONO_PATH is set to a common library path. All C#-assemblies should be built into that path.

Building

In order to build your own C# assemblies and executables the following x simple steps are needed:

CSHARP_ADD_TARGET_DEPENDENCY(target deps)

adds the dependencies deps to target. Only use target names or assembly names without extension.

Example:

CSHARP_ADD_TARGET_DEPENDENCY(myExecutable myLibrary Mono.C5 otherLibrary)

CSHARP_ADD_LIBRARY(lib files)

build a C# assembly

Example:

CSHARP_ADD_LIBRARY(myLibrary src/mycode.cs src/myclass.cs)

CSHARP_ADD_EXE(exe files)

build a C# executable

Example:

CSHARP_ADD_EXE(myExe src/mymain.cs src/myclass.cs)

CSHARP_ADD_PKG_DEPENDENCY(target dep)

add a dependency using pkg-config

Example:

CSHARP_ADD_PKG_DEPENDENCY(myLibrary gtk-sharp-2.0)

CSHARP_ADD_RESOURCE(target res)

add a resource to the target (similar to dmcs -resource:res)

rosbuild_gen_cs_msg()

This command, similar to rosbuild_genmsg() will generate and compile all neccessary code. The major difference to rosbuild_genmsg() is that code for all messages that occur in packages your package depends on will be generated and built. In other words, all messages stemming from the complete dependency graph, starting from your package will be wrapped.

rosbuild_gensrv() from within the CMakeLists.txt

Using the wrapped API

Your targets will automatically be linked against the generated message libraries. The root namespace for all generated code is RosCS and each package defines its own sub-namespace, i.e., RosCS.std_msgs.

API documentation for the main functionality is available here: https://cn-roscs-ros-pkg.googlecode.com/git/roscs/apidoc/index.html.

The following example illustrates the wrapped API:

using System;
using System.Threading;
using RosCS;
using RosCS.std_msgs;

namespace Example
{
        public class RosCsExample
        {
                Node node;
                Publisher pub;
                public RosCsExample()
                {
                        this.node = Node.MainNode;
                        this.pub = new Publisher(this.node,"DummyTopic",RosCS.std_msgs.String.TypeId,1);
                        this.node.Subscribe("DummyTopic",OnMessage,6);
                        
                }
                public void OnMessage(RosCS.std_msgs.String msg) {
                        Console.WriteLine("Got message: "+msg.Data);
                }
                public void Run() {
                        int i = 0;
                        while(RosSharp.Ok()) {
                                RosCS.std_msgs.String msg = new RosCS.std_msgs.String();
                                msg.Data ="Hello "+i;
                                this.pub.Send(msg);
                                i++;
                                Thread.Sleep(1000);
                        }                       
                }               
                public static void Main(string[] args) {                        
                        RosSharp.Init("NodeName",args);                 
                        RosCsExample rce = new RosCsExample();
                        rce.Run();
                }
        }
}

Note that only asynchronous message handling is supported.

Known Issues and Limitations


2019-05-18 13:13