... 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
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.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.
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.
© Siemens AG, 2017
Author: Dr. Martin Bischoff (martin.bischoff@siemens.com)