ROS# Version 2.1.0

Changelog

All notable changes to this project will be documented in this file.
The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.

[2.1.0] - 20.01.2025

Added

• ROS2 Action Support:

  • In ActionClient.cs and ActionServer.cs, new methods were introduced for setting, sending, canceling, and responding to action goals, accommodating ROS2-specific parameters like feedback, fragment size, and compression, etc. Additionally, Communicators.cs now includes new classes—ActionConsumer and ActionProvider—which facilitate ROS2 action goal management and feedback/result handling (including non-blocking listener callbacks, custom delegates, and more).

    • Derived example classes FibonacciActionClient.cs and FibonacciActionServer.cs and their console examples are updated as well.

  • ActionServer.cs now features the ROS2 server state machine model (ROS2 Design - Actions)

  • Namespace and Message Type Integration:

    • Across key files such as ActionAutoGen.cs, FibonacciActionClient.cs, and FibonacciActionServer.cs, namespaces were updated to RosSharp.RosBridgeClient.MessageTypes.Action, aligning with ROS2. Furthermore, message types and identifiers were modified to reflect ROS2 constructs.

  • Abstract Action Message Types:

    • In ActionFeedback.cs, ActionResult.cs, and ActionGoal.cs, (TActionFeedback/Result/Goal) new properties were added to support ROS2's (action) feedback system and result tracking, enhancing metadata management.

  • Utility and Infrastructure Enhancements:

    • RosSocket.cs now feature new methods for ROS2 action advertising, unadvertising, managing action goals, cancel requests; feedback, result and status responses.
    • Communication.cs now feature ROS2 action message structures defined by the ROS Bridge Protocol.

  • MessageGeneration Support for ROS2 Actions:

    • In ActionAutoGen.cs, automatic action message generation capabilities have been implemented, including dynamic package inclusion, default and parameterized constructors based on ROS version.

  • ROS2 Action Support for Unity Fibonacci Examples

Changed/Removed

• There were no changes/removals affecting ROS1 functionalities. All new ROS2 enhancements were contained within conditional compilation directives, thereby maintaining the continuity of ROS1 operations.

ROS# Version 2.0.0

Changelog

All notable changes to this project will be documented in this file.
The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.

[2.0.0]

Added

• Unity package supports UPM and requires Unity 2022.3.
• ROS2 support is available for both the Unity Package (com.siemens.ros-sharp) and the complete ROS# .NET solution, including RosBridgeClient, MessageGeneration, and Urdf (Libraries).
• New ROS packages: File Server, Unity Simuatlion Scene, and Gazebo Simulation Scene, with ROS2 support.
• Unity Simulation Scene and Gazebo Simulation Scene, included in the Unity Package for ROS2 support.
• RawImageSubscriber script is now part of the Unity package.
• Post-build events for Visual Studio streamline development between Unity and .NET.

Fixed

• UrdfTransfer files use serializer-specific methods instead of Newtonsoft JSON.

Changed

• RosBridgeClient, MessageGeneration, and Urdf support .NET 8.0.
• RosBridgeClient, MessageGeneration, and Urdf source code is included in the Unity Package; and no longer dynamically linked to the Unity package.
• Switched from websocket-sharp to websocket-sharp.netstandard.
• The JoyAxisReader script in the Unity package inherits from IAxisReader interface for increased applicability.
• The ImageSubscriber script in the Unity package is renamed to CompressedImageSubscriber.
• URDF export and import windows in the Unity package utilize the existing RosSocket component in the scene.
• Thread safety for Subscriber : RosBridgeClient.Communication. Each Subscriber, including .NET and Unity package, can be configured to receive thread-safe.

Removed

• Newtonsoft BSON is no longer supported.

ROS# Version 1.7.0

• updating to Unity Version 2019.4.18f1
• multiple minor fixes, see commit history for details

ROS# Version 1.6.0

Automatic Message Generation:

• With ROS# you can now generate C# classes of any ROS message, service or action type.
• For example, the auto-generated class of sensor_msgs/JointState.msg is JointState.cs.
• Please find the new library here and the console tool sources here.
• Please also note the new Unity Editor menu features.
• Check out the new Wiki page for further info.

Action Server and Action Client Revision:

• Check out the new Wiki pages for [Action Server] and [Action Client] for further info.

ROS# Version 1.5.0

The biggest changes in ROS# Version 1.5 are:

• ROS Action Support:
  Please check out the FibonacciActionServer and FibonacciActionClient example and find the corresponding ROS tutorial here.

• Message Class Generation via Unity Editor:
  Please check out the new Unity menu item RosBridgeClient > Generate Messages > ...
  This wiki page gives an overview on the different options to generate new message files.

• BSON (De-)Serialization:
  As alternative to JSON, you can now select to set up BSON communication with rosbridge_server.
  Make sure to activate bson_only_mode when launching ros_bridge_server as explained here.

The attached binaries are:

• RosSharp.unitypackage : complete ROS# Unity Package containing all assets of the Unity3D project
• RosBridgeClient.dll: the build of RosBridgeClient project
• Urdf.dll: the build of Urdf project

ROS# Version 1.4.0

This version gives you the possibility to create, modify and export your URDF models with all comforts of the Unity Editor!

The biggest changes since Version 1.3 are:

• Urdf Libary: The UrdfImporter project was renamed to Urdf. It now supports the ability to both read from and write to URDF files.
• Create, Modify, and Export URDF models in Unity: ROS# now supports creating and exporting URDF models directly in Unity. It is also possible to modify and re-export an existing URDF model.
• Transfer URDF files from Unity to ROS: Previously it was only possible to transfer/import URDF files from ROS to Unity. Now ROS# can send a URDF and all its meshes from Unity to a package in ROS.
  Please see the Wiki, especially Section 3.2, for further info.

The attached binaries are:

• RosSharp.unitypackage : complete ROS# Unity Package containing all assets of the Unity3D project
• RosBridgeClient.dll: the build of RosBridgeClient project
• Urdf.dll: the build of Urdf project

ROS# Version 1.3.0

This version comes with the following changes in RosBridgeClient as discussed in Issue #59:

• Generic Communication Protocol Interface: an interface to the communication protocol used by RosBridgeClient. It currently comes with two implementations: WebSocketNetProtocol and WebSocketSharpProtocol
• Message Type Structure: a more ROS-oriented structure of message types, including further code simplifications
• Simplified Message Handling in Unity: a simplified structure with even better performance. It requires a different placement of ROS# components in Unity scene.

Please see the Wiki and the videos of UnitySimulationScene and GazeboSimulationScene for a detailed info on how to use the new framework.

The attached binaries are:

• RosSharp.unitypackage : complete ROS# Unity Package containing all assets of the Unity3D project
• RosBridgeClient.dll: the build of RosBridgeClient project
• UrdfImporter.dll: the build of UrdfImporter project

ROS# Version 1.2.3

This version is is the final state of ROS# before a major change in RosBridgeClient (cf. #59 ).
Please refer to this release and/or the corresponding commit if you want to continue working with the old framework.

The attached binaries are:

• RosSharp.unitypackage: complete ROS# Unity Package containing all assets of the Unity3D project
• RosBridgeClient.dll: the build of RosBridgeClient project
  UrdfImporter.dll: the build of UrdfImporter project

ROS# Version 1.2.2

This version includes a bunch of minor fixes that we found since release 1.2a.

The attached binaries are:

• RosSharp.unitypackage: complete ROS# Unity Package containing all assets of the Unity3D project
• RosBridgeClient.dll: the build of RosBridgeClient project
• UrdfImporter.dll: the build of UrdfImporter project

ROS# Version 1.2.1

This version includes a bunch of minor fixes that we found since Pre-release 1.2.

The attached binaries are

• RosSharp.unitypackage: complete ROS# Unity Package containing all assets of the Unity3D project
• RosBridgeClient.dll: the build of RosBridgeClient project
• UrdfImporter.dll: the build of UrdfImporter project