Dependency problem building ROS2 to replicate Unity Package in Releases

[jpadillaperez]

Hi everyone! First of all, I would like to express my sincere appreciation for the effort put into developing the project. I have been working on it for the past six months, attempting to create custom messages for ROS2 in Hololens 2. However, I am facing challenges while trying to follow the provided instructions to build ROS2 using the provided scripts.

Initially, I encountered errors related to POCO being not longer required for ROS2 Foxy, or spdlog_vendor being imported from master branch instead of foxy branch, among others, ... But I am now encountering a different error that I have been unable to resolve. After successfully replicating the unitypackage provided in the releases section, without any customized message, once I try to use it in Unity. The following dependency error appear:

TypeLoadException: Could not resolve type with token 01000011 from typeref (expected class 'System.Reflection.Assembly' in assembly 'System.Runtime, Version=4.2.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a') ROS2.RCLdotnetDelegates..cctor () (at C:/opt/target/src/ros2_dotnet/ros2_dotnet/rcldotnet/RCLdotnet.cs:130)

This error appears in the lines of initialization and spin of ROS2.NET for both, the Unity Editor and the Hololens 2 App

To assist me in troubleshooting, could you kindly provide the specific versions of the dependencies used in the project? I suspect that the issue might be related to incompatible versions, and having this information would greatly aid my debugging process (For example, I'm currently using .Net 5 and Visual Studio 2019)

I truly value this project and its potential, and I am eager to continue developing in the right direction. If you can provide me with some guidance or a path to follow, I would be more than happy to contribute by helping update the project as well.