rclcs_testing_ws

This is a complete testing workspace setup for the rclcs. Please make sure you did the steps described in the rclcs documentation before using this workspace.

What does this workspace consist of?

• src/test_msgs - A simple test message which will be translated to c/c++ and c# code
• src/test_cs - Test and demonstration that shows how to use the rclcs in order to communicate via ROS2 (This is the C# code)
• src/test_cpp - Cpp listener for the message
• src/test_cpp_pub - Cpp publisher for the message

How to build and run

Just do an ament build in the root directory. Then do

source install/local_setup.bash
cd install/bin
export MONO_PATH=../lib:${AMENT_PREFIX_PATH}/lib>
mono test_cs.exe

This will start the Main function defined in Program.cs

For commented examples have a look at test_cs/test_cs/Examples. There are three examples at the moment.

• BasicNodeExample - demonstrates how to initialize the rcl and how to create/spin a node
• PublisherExample - create a publisher an publish the dummy message
• SubscriptionExample - subscribe on a TestTopic an recieve the Dummy message

By changing the line "-main:test_cs.MainClass" in the CMakeLists.txt you can also build the other examples.

Windows

On Windows you can't use the MONO_PATH variable. Therefore you have to set the WindowsAssemblyLoader as entry point.

simply select in the StartMain method the example you want to start:

        private static void StartMain(string[] args)
		{
			test_cs.BasicNodeExampleWithUsing.Main(args);
		}