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EricVoll authored Sep 30, 2020
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# [<img src="https://github.com/siemens/ros-sharp/wiki/img/Home_RosSharpLogo.png" width="480" alt ="ROS#"/>](https://github.com/siemens/ros-sharp) #


[ROS#](https://github.com/siemens/ros-sharp) is a set of open source software libraries and tools in [C\# ](https://docs.microsoft.com/de-de/dotnet/csharp/csharp) for communicating with [ROS](http://www.ros.org/) from .[NET](https://www.microsoft.com/net) applications, in particular [Unity](https://unity3d.com/).

[Here](https://github.com/siemens/ros-sharp/wiki/Info_Showcases) are some showcases illustrating what can be done with ROS#.
Community provided a variety of other application examples for ROS# [here](https://github.com/siemens/ros-sharp/issues/20). Please don't hesitate to post yours!

# UWP / HoloLens
## Notes On This Fork ##

This fork has some changes to allow ROS# to be used in UWP projects, such as the Microsoft HoloLens (1 & 2 - tested and deployed successfully). Like the main ROS# branch, use 2019.x or later.
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Some parts of the library and Unity Scripts needed some platform specific code, which was done with the "WINDOWS_UWP" compiler constant.

### Compatibile With Mixed Reality Toolkit ###
This branch is compatible with Microsoft's Mixed Reality Toolkit. See the Preparing Unity Project Section.
This branch is compatible with Microsoft's Mixed Reality Toolkit. Tested with v. 2.4 and 2.3

Please see the [Wiki](https://github.com/siemens/ros-sharp/wiki/), especially [Section 3.2](https://github.com/siemens/ros-sharp/wiki/User_App_NoROS_ExportURDFOnWindows), for an explanation of how to use the new framework.

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* [Newtonsoft.Json.Bson](https://github.com/JamesNK/Newtonsoft.Json.Bson) (MIT License)
* [websocket-sharp](https://github.com/sta/websocket-sharp) (MIT License), required only when using [WebSocketSharpProtocol](https://github.com/siemens/ros-sharp/tree/master/Libraries/RosBridgeClient/Protocols/WebSocketSharpProtocol.cs)

## Platform Support ##

* [ROS#](https://github.com/siemens/ros-sharp) is developed for Windows and has successfully been used on a variety of other platforms community members.

* The [RosSharp](https://github.com/siemens/ros-sharp/tree/master/Libraries/) Visual Studio solution requires .NET Framework 4.6 and Visual Studio 2017 or higher.
* The Unity Project [Unity3D](https://github.com/siemens/ros-sharp/tree/master/Unity3D) requires Unity Version 2018.3 or higher.
In Versions below 2019.3, make sure to set the scripting runtime version to `.NET 4.x Equivalent` ([see Wiki page](https://github.com/siemens/ros-sharp/wiki/User_Inst_Unity3DOnWindows)).

* Please find a UWP version of ROS# [here](https://github.com/EricVoll/ros-sharp).
* Please find a .NET Standard 2.0 version of UrdfImporter [here](https://github.com/blommers/UdrfImporter).

## Further Info ##

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