ROS2 Native for UWP & Hololens [Preview]

NOTE: This project is under active development.

This repository builds the native components as a nuget package or Unity Package Manager package required to support ROS2 on UWP devices and Hololens. The related project ros_msft_mrtk, contains a Unity Project, ROS2.net utilities, and Mixed Reality Toolkit assets for Robotics. These projects can be used independently.

Using the ROS2 Nuget in your UWP application

This project builds a nuget package named Microsoft.ROS.MRTK. available from the github release on this repository.

To consume the nuget package from a UWP application:

1. Download the native nuget package from the github release.
2. Move the downloaded nuget package to a folder on your computer.
3. In Visual Studio, Create a local Nuget Feed by selecting Tools -> Nuget Package Manager -> Package Manager Settings, then selecting Package Sources.
4. Locate Microsoft.ROS.MRTK.Foxy, and install it from the Nubet Package Manager.
5. Now you can initialize it and perform pub/sub or use Action Client.

A Native sample project for consuming the nuget package is available in the examples directory, allowing a UWP native application to consume ROS2 libraries directly.

Using ROS2 from Unity

This project also builds and publishes a Unity Package Manager package to the npm compatible Azure Artifact Feed for ROS To consume the output from a Unity application, follow the instructions on the Unity documentation for adding a new feed, and installing Microsoft.ROS.MRTK.Foxy into your project.

Building from Source

Building ROS2 & ROS2.net for UWP requires multiple passes, ultimately generating a nuget package or Unity package manager package.

Prerequistes

Please install ROS2 Foxy for Windows according to the instructions. (Some of the ROS tooling is required and referenced during the builds.)

Create a shortcut for building without a ROS2 environment, such as:

C:\Windows\System32\cmd.exe /k "C:\Program Files (x86)\Microsoft Visual Studio\2019\Community\Common7\Tools\VsDevCmd.bat" -arch=amd64 -host_arch=amd64

VCPKG

This repo depends on vcpkg being checked out into c:\opt:

mkdir c:\opt
cd c:\opt
git clone https://github.com/ooeygui/vcpkg

Initializing your source tree.

mkdir c:\ws
cd c:\ws
git clone -b foxy https://github.com/ms-iot/ros_msft_mrtk_native
cd c:\ws\ros_msft_mrtk_native
inittree.cmd

Building the tools

If you only intend to target one architecture, you can pass one of /x86, /x64, /arm, /arm64, /unity. Passing no argument will instruct the build scripts to generate binaries for all platforms. The /unity flag creates a build of ROS2 which works within the Unity Editor or Windows Desktop Mixed Reality Application.

initvcpkg.cmd [/x86 | /x64 | /arm | /arm64 | /unity]
inittools.cmd [/x86 | /x64 | /arm | /arm64 | /unity]

Building ROS2 & ROS2.net

NOTE: there is a sequencing problem with message generation and the .net generator; you may need to build the tree twice to generate messages.

build.cmd [/x86 | /x64 | /arm | /arm64 | /unity]

Building Nuget

build_nuget.cmd [/x86 | /x64 | /arm | /arm64 | /unity]

Building UPM for Unity

build_upm.cmd [/x86 | /x64 | /arm | /arm64 | /unity]

Contributing

This project welcomes contributions and suggestions. Most contributions require you to agree to a Contributor License Agreement (CLA) declaring that you have the right to, and actually do, grant us the rights to use your contribution. For details, visit https://cla.microsoft.com.

When you submit a pull request, a CLA-bot will automatically determine whether you need to provide a CLA and decorate the PR appropriately (e.g., label, comment). Simply follow the instructions provided by the bot. You will only need to do this once across all repos using our CLA.

This project has adopted the Microsoft Open Source Code of Conduct. For more information see the Code of Conduct FAQ or contact [email protected] with any additional questions or comments.

Special Thanks

This project is built on the amazing work by Open Robotics, the ROS2 technical steering committee, eProsima, the ROS2.net developers, and the ROS community.