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.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.

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.

• Interested in contributing as well?

• Read the Wiki.
• Contact the project team.

1. In URDFSharp/URDFImporter/OdomoteryPatcher.cs, the name of the root node needs to be generalized - either pull it from the urdf, or specify as a requirement that the root node be named "world".
2. In URDFSharp/URDFImporterEditor/UrdfImporterEditorWindow.cs, urdfAssetPath needs to be generalized using full path to Project folder (Windows method of finding current folder does not work in Mac OSX).

© Siemens AG, 2017-2018

Author: Dr. Martin Bischoff (martin.bischoff@siemens.com) Revised: Rahul B. Warrier (10/21/2017)