msg_dll_generator

A ROS Package with a C# msg generator. Kind of like genpy/gencpp/genlisp, but a lot more hacky, and certainly unofficial

How to install

Install .NET Core SDK 2.1

Instructions can be found on Microsoft's website. Linux version must be 64-bit.

Clone the project

• cd ~/catkin_ws/src
• git clone https://github.com/YaseenAlk/msg_dll_generator.git

If successful, repo should be cloned to ~/catkin_ws/src/msg_dll_generator/

Initialize the submodule:

• If not already in repo folder, cd ~/catkin_ws/src/msg_dll_generator/
• git submodule update --init

Update the submodule

• If not already in repo folder, cd ~/catkin_ws/src/msg_dll_generator/
• git submodule update --remote

Build YAMLParser.dll

YAMLParser is a C# program that autogenerates C# projects for .msg/.srv/action files.

• If not already in repo folder, cd ~/catkin_ws/src/msg_dll_generator/
• ./rebuild_yamlparser.sh

If you have now have a folder in ~/catkin_ws/src/msg_dll_generator/bin/ filled with the following files, then you're good:

You should now be able to run the following script in terminal:

~/catkin_ws/src/msg_dll_generator/catkin_make_with_dll

and that script should be able to autogenerate a .NET Core dll package in the folder ~/catkin_ws/src/msg_dll_generator/catkin_make_with_dll/autogenerated_msg_dll. The three files in this folder can now be used as a C# library anywhere: in unity, in other C# projects, etc.

(Optional) Add catkin_make_dll command to .bashrc

• cd ~
• nano .bashrc
• Add the following line to the .bashrc file:

alias catkin_make_dll = '~/catkin_ws/src/msg_dll_generator/catkin_make_with_dll'

• Save your .bashrc file and restart terminal

You should now be able to run the command catkin_make_dll in any directory in terminal! Woohoo! :D

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Now it's ready to use!