[ros-users] [Discourse.ros.org] [ROS Projects] ROS# on github.com/siemens/ros-sharp

[Martin Bischoff]

### [ROS#](https://github.com/siemens/ros-sharp) is a set of software libraries and tools in C# for communicating with ROS from .NET applications, in particular Unity.  

### ROS# consists of...  

* _RosBridgeClient_, a .NET API to ROS using rosbridge_suite on the ROS side.
* _UrdfImporter_, a URDF file parser for .NET applications.
* _RosSharp.unitypackage_, a Unity Asset package providing Unity-specific extensions to RosBridgeClient and UrdfImporter.

### ROS# helps you to...  
* **Communicate** with ROS from within your Windows app:

	Subscribe and publish topics, call and advertize services, set and get parameters and use all features provided by rosbridge_suite. (See code example below.)
		
* **Import** your robot's URDF model as a Gameobject in Unity3D (see https://youtu.be/EhSbufLlvvc).

	Import the data either directly from the ROS system using the robot_description service or via a URDF file that you copied into your Unity Asset folder.
	
* **Control** your real Robot via Unity3D (see https://youtu.be/OytzagQirrk)

* **Visualize** your Robot's actual state and sensor Data in Unity3D (see https://youtu.be/wo3hwsPFEPY)
		   
* **Simulate** your robot in Unity3D with the data provided by the URDF and without using a connection to ROS.
 
Beside visual components as meshes and textures, also Joint parameters and masses, CoMs, Inertia and Collider specifications of Rigidbodies are imported.
	
* **And much more!** ROS# is useful for a wide variety of applications. Think about Machine Learning, Human-Machine Interaction, Tele-Engineering, Virtual Prototyping, Robot Fleet Operation, Gaming and Entertainment!

### Got Interested? ###
Please do not hesitate to try it out yourself and to get in touch with us!
We are very interested in your feedback, applications, improvement suggestions, and contributions!

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ROS# Development Team (ros-sharp.ct at siemens.com), Siemens AG, Corporate Technology, 2017





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