nichinglin/ros-sharp

ROS# is a set of open source software libraries and tools in C# for communicating with ROS from .NET applications, in particular Unity3D

... is a set of open source software libraries and tools in C# for communicating with ROS from .NET applications, in particular Unity3D.

Contents:

RosBridgeClient

... provides a .NET API to ROS via rosbridge_suite.

UrdfImporter

... provides a URDF file parser for .NET applications.

file_server

... provides a ROS node with a service to send file contents.

... is required for receiving meshes and textures referenced in a URDF via UrdfImporter.

Unity3D

... is a Unity3D reference project providing Unity3D-specifc extensions to

• RosBridgeClient
• UrdfImporter

Release

... contains RosSharp.unitypackage the latest package of ROS# assets from the Unity3D project.

Tutorials

... contains Unity3D tutorial projects described described in the Wiki.

Licensing:

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

External Dependencies:

RosBridgeClient uses the following 3rd party libraries:

• websocket-sharp.dll from websocket-sharp provided under MIT License.
• NewtonSoft.Json.dll from NewtonSoft Json.Net provided under MIT License.

UrdfImporter uses the following 3rd party libraries:

• MathNet.Numerics.dll from Math.NET Numerics provided under MIT License.
• System.Threading.dll from TaskParallelLibrary for .NET 3.5 provided under MS-EULA License.

Special Thanks:

• Rahul Warrier for adjusting the code to enable its open source publication.
• Verena Roehrl for providing the Wiki pages and the tutorial projects.
• Karl Henkel for providing the reference for the Unity3D STL mesh importer used in this project.

Please see the Wiki for further info.

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© Siemens AG, 2017

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