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Merge pull request #482 from memrecakal/master: Fix Build Errors and Add Multi-Framework Targeting
## [2.1.1] - 02.06.2025 ### Added - Multi-framework targeting support, new .NET Standard 2.1 alongside .NET 8.0. - Updated dependencies, including but not limited to: - Microsoft.Bcl.AsyncInterfaces 9.0.5. - NUnit 4.3.2. - NUnit3TestAdapter 5.0.0. - System.Runtime.CompilerServices.Unsafe 6.1.2. - System.Text.Encodings.Web 9.0.5. - System.Text.Json 9.0.5. - System.Threading.Channels 9.0.5. - System.IO.Pipelines 9.0.5. - websocket-sharp 1.0.3-rc11 ### Fixed - Separate *Editor* and *Runtime* codes (`UnityFibonacciAction*.cs`), which caused build errors for Android and Windows. - Various wiki enhancements.
2 parents a8c5e50 + e345f33 commit a71cb5e

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‎CODE_OF_CONDUCT.md‎

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@@ -74,5 +74,5 @@ available at [http://contributor-covenant.org/version/1/4][version]
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[homepage]: http://contributor-covenant.org
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[version]: http://contributor-covenant.org/version/1/4/
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---
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© Siemens AG, 2017-2024
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© Siemens AG, 2017-2025
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‎CONTRIBUTING.md‎

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@@ -31,5 +31,5 @@ Please send your suggested documentation, preferably in markdown format, to the
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---
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© Siemens AG, 2017-2024
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© Siemens AG, 2017-2025
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‎Libraries/MessageGeneration/MessageGeneration.csproj‎

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<Project Sdk="Microsoft.NET.Sdk">
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<PropertyGroup>
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<TargetFramework>net8.0</TargetFramework>
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<TargetFrameworks>net8.0;netstandard2.1</TargetFrameworks>
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<OutputType>Library</OutputType>
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<GenerateAssemblyInfo>false</GenerateAssemblyInfo>
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<Configurations>Debug;Release;ROS2</Configurations>
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<Description>.NET Library for generating C# source code for ROS message/service/action</Description>
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<Company>Siemens AG</Company>
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<Product>ROS#</Product>
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<Copyright>Copyright © 2024</Copyright>
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<AssemblyVersion>2.1.0.0</AssemblyVersion>
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<FileVersion>2.1.0.0</FileVersion>
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<Version>2.1.0</Version>
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<Copyright>Copyright © 2025</Copyright>
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<AssemblyVersion>2.1.1.0</AssemblyVersion>
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<FileVersion>2.1.1.0</FileVersion>
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<Version>2.1.1</Version>
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<GeneratePackageOnBuild>True</GeneratePackageOnBuild>
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<PackageId>Siemens.RosSharp.MessageGeneration</PackageId>
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<Title>MessageGeneration</Title>

‎Libraries/MessageGenerationConsoleTool/MessageGenerationConsoleTool.csproj‎

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<Project Sdk="Microsoft.NET.Sdk">
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<PropertyGroup>
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<TargetFramework>net8.0</TargetFramework>
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<TargetFrameworks>net8.0;netstandard2.1</TargetFrameworks>
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<OutputType>Exe</OutputType>
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<AssemblyName>RosMsgGen</AssemblyName>
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<GenerateAssemblyInfo>false</GenerateAssemblyInfo>
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<Description>Console tool for generating C# source code for ROS message/service/action.</Description>
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<Company>Siemens AG</Company>
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<Product>ROS#</Product>
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<Copyright>Copyright © 2024</Copyright>
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<AssemblyVersion>2.1.0.0</AssemblyVersion>
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<FileVersion>2.1.0.0</FileVersion>
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<Copyright>Copyright © 2025</Copyright>
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<AssemblyVersion>2.1.1.0</AssemblyVersion>
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<FileVersion>2.1.1.0</FileVersion>
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</PropertyGroup>
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<ItemGroup>
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<ProjectReference Include="..\MessageGeneration\MessageGeneration.csproj" />

‎Libraries/RosBridgeClient/RosBridgeClient.csproj‎

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<Project Sdk="Microsoft.NET.Sdk">
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<PropertyGroup>
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<TargetFramework>net8.0</TargetFramework>
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<TargetFrameworks>net8.0;netstandard2.1</TargetFrameworks>
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<OutputType>Library</OutputType>
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<GenerateAssemblyInfo>false</GenerateAssemblyInfo>
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<Configurations>Debug;Release;ROS2</Configurations>
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<Description>.NET API to ROS via rosbridge_suite</Description>
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<Company>Siemens AG</Company>
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<Product>ROS#</Product>
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<Copyright>Copyright © 2024</Copyright>
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<AssemblyVersion>2.1.0.0</AssemblyVersion>
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<FileVersion>2.1.0.0</FileVersion>
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<Version>2.1.0</Version>
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<Copyright>Copyright © 2025</Copyright>
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<AssemblyVersion>2.1.1.0</AssemblyVersion>
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<FileVersion>2.1.1.0</FileVersion>
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<Version>2.1.1</Version>
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<GeneratePackageOnBuild>True</GeneratePackageOnBuild>
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<PackageId Condition="'$(Configuration)' == 'ROS2'">Siemens.RosSharp.RosBridgeClient.ROS2</PackageId>
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<PackageId Condition="'$(Configuration)' == 'Release'">Siemens.RosSharp.RosBridgeClient.ROS1</PackageId>
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</PropertyGroup>
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<ItemGroup>
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<PackageReference Include="System.Data.DataSetExtensions" Version="4.5.0" />
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<PackageReference Include="Microsoft.Bcl.AsyncInterfaces" Version="8.0.0" />
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<PackageReference Include="Microsoft.Bcl.AsyncInterfaces" Version="9.0.5" />
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<PackageReference Include="Newtonsoft.Json" Version="13.0.3" />
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<PackageReference Include="System.Runtime.CompilerServices.Unsafe" Version="6.0.0" />
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<PackageReference Include="System.Text.Encodings.Web" Version="8.0.0" />
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<PackageReference Include="System.Text.Json" Version="8.0.5" />
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<PackageReference Include="System.Threading.Channels" Version="8.0.0" />
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</ItemGroup>
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<ItemGroup>
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<PackageReference Include="WebSocketSharp-netstandard" Version="1.0.1" />
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<PackageReference Include="System.Runtime.CompilerServices.Unsafe" Version="6.1.2" />
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<PackageReference Include="System.Text.Encodings.Web" Version="9.0.5" />
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<PackageReference Include="System.Text.Json" Version="9.0.5" />
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<PackageReference Include="System.Threading.Channels" Version="9.0.5" />
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<PackageReference Include="WebSocketSharp" Version="1.0.3-rc11" />
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</ItemGroup>
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<ItemGroup>
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<Folder Include="MessageTypes\ROS2\" />

‎Libraries/RosBridgeClientTest/RosBridgeClientTest.csproj‎

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<Project Sdk="Microsoft.NET.Sdk">
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<PropertyGroup>
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<TargetFramework>net8.0</TargetFramework>
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<OutputType>Exe</OutputType>
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<TargetFramework>net8.0</TargetFramework>
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<OutputType>Exe</OutputType>
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<GenerateAssemblyInfo>false</GenerateAssemblyInfo>
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<Configurations>Debug;Release;ROS2</Configurations>
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</PropertyGroup>
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<AssemblyTitle>RosBridgeClientTest</AssemblyTitle>
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<Company>Siemens AG</Company>
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<Product>ROS#</Product>
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<Copyright>Copyright © 2021</Copyright>
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<AssemblyVersion>2.1.0.0</AssemblyVersion>
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<FileVersion>2.1.0.0</FileVersion>
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<Copyright>Copyright © 2025</Copyright>
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<AssemblyVersion>2.1.1.0</AssemblyVersion>
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<FileVersion>2.1.1.0</FileVersion>
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</PropertyGroup>
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<ItemGroup>
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<ProjectReference Include="..\RosBridgeClient\RosBridgeClient.csproj" />
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<ItemGroup>
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<PackageReference Include="Microsoft.CSharp" Version="4.7.0" />
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<PackageReference Include="System.Data.DataSetExtensions" Version="4.5.0" />
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<PackageReference Include="Microsoft.Bcl.AsyncInterfaces" Version="8.0.0" />
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<PackageReference Include="Microsoft.Bcl.AsyncInterfaces" Version="9.0.5" />
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<PackageReference Include="Newtonsoft.Json" Version="13.0.3" />
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<PackageReference Include="System.Runtime.CompilerServices.Unsafe" Version="6.0.0" />
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<PackageReference Include="System.Text.Encodings.Web" Version="8.0.0" />
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<PackageReference Include="System.Runtime.CompilerServices.Unsafe" Version="6.1.2" />
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<PackageReference Include="System.Text.Encodings.Web" Version="9.0.5" />
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</ItemGroup>
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<ItemGroup>
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<PackageReference Include="NUnit" Version="3.12.0" />
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<PackageReference Include="NUnit3TestAdapter" Version="3.16.1" />
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<PackageReference Include="System.Text.Json" Version="8.0.5" />
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<PackageReference Include="NUnit" Version="4.3.2" />
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<PackageReference Include="NUnit3TestAdapter" Version="5.0.0" />
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<PackageReference Include="System.Text.Json" Version="9.0.5" />
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<PackageReference Include="System.Text.RegularExpressions" Version="4.3.1" />
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<PackageReference Include="System.Threading.Channels" Version="8.0.0" />
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<PackageReference Include="System.Threading.Channels" Version="9.0.5" />
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<PackageReference Include="WebSocketSharp" Version="1.0.3-rc11" />
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</ItemGroup>
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<ItemGroup>
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<Compile Remove="RosSocketUrdfImporterExample.cs" />

‎Libraries/RosBridgeClientTest/RosCommunicationTests.cs‎

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@@ -60,11 +60,9 @@ public void PublicationTest()
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string json = JsonSerializer.Serialize(comm); // for system.text.json
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#if !ROS2
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Assert.AreEqual("{\"topic\":\"mytopic\",\"msg\":{\"secs\":0,\"nsecs\":0},\"op\":\"publish\",\"id\":\"myid\"}",
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json);
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Assert.That(json, Is.EqualTo("{\"topic\":\"mytopic\",\"msg\":{\"secs\":0,\"nsecs\":0},\"op\":\"publish\",\"id\":\"myid\"}"));
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#else
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Assert.AreEqual("{\"topic\":\"mytopic\",\"msg\":{\"sec\":0,\"nanosec\":0},\"op\":\"publish\",\"id\":\"myid\"}",
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json);
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Assert.That(json, Is.EqualTo("{\"topic\":\"mytopic\",\"msg\":{\"sec\":0,\"nanosec\":0},\"op\":\"publish\",\"id\":\"myid\"}"));
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#endif
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//Console.WriteLine("JSON:\n" + JsonConvert.SerializeObject(comm, Formatting.Indented) + "\n"); // for newtonsoft
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Console.WriteLine("JSON:\n" + JsonSerializer.Serialize(comm, JsonOptions) + "\n"); // for system.text.json
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//string json = JsonConvert.SerializeObject(comm); // for newtonsoft
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string json = JsonSerializer.Serialize(comm); // for system.text.json
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Assert.AreEqual("{\"topic\":\"mytopic\",\"type\":\"mytype\",\"throttle_rate\":0,\"queue_length\":1," +
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"\"fragment_size\":2147483647,\"compression\":\"none\",\"op\":\"subscribe\",\"id\":\"myid\"}",
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json);
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Assert.That(json, Is.EqualTo("{\"topic\":\"mytopic\",\"type\":\"mytype\",\"throttle_rate\":0,\"queue_length\":1," +
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"\"fragment_size\":2147483647,\"compression\":\"none\",\"op\":\"subscribe\",\"id\":\"myid\"}"));
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//Console.WriteLine("JSON:\n" + JsonConvert.SerializeObject(comm, Formatting.Indented) + "\n"); // for newtonsoft
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Console.WriteLine("JSON:\n" + JsonSerializer.Serialize(comm, JsonOptions) + "\n"); // for system.text.json
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}
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string json = JsonSerializer.Serialize(comm); // for system.text.json
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#if !ROS2
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Assert.AreEqual("{\"service\":\"myservice\",\"args\":{\"secs\":0,\"nsecs\":0}," +
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"\"fragment_size\":2147483647,\"compression\":\"none\",\"op\":\"call_service\",\"id\":\"myid\"}",
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json);
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Assert.That(json, Is.EqualTo("{\"service\":\"myservice\",\"args\":{\"secs\":0,\"nsecs\":0}," +
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"\"fragment_size\":2147483647,\"compression\":\"none\",\"op\":\"call_service\",\"id\":\"myid\"}"));
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#else
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Assert.AreEqual("{\"service\":\"myservice\",\"args\":{\"sec\":0,\"nanosec\":0}," +
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"\"fragment_size\":2147483647,\"compression\":\"none\",\"op\":\"call_service\",\"id\":\"myid\"}",
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json);
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Assert.That(json, Is.EqualTo("{\"service\":\"myservice\",\"args\":{\"sec\":0,\"nanosec\":0}," +
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"\"fragment_size\":2147483647,\"compression\":\"none\",\"op\":\"call_service\",\"id\":\"myid\"}"));
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#endif
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//Console.WriteLine("JSON:\n" + JsonConvert.SerializeObject(comm, Formatting.Indented) + "\n"); // for newtonsoft
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Console.WriteLine("JSON:\n" + JsonSerializer.Serialize(comm, JsonOptions) + "\n"); // for system.text.json

‎Libraries/RosBridgeClientTest/RosSocketTests.cs‎

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RosSocket.Publish(id, message);
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RosSocket.Unadvertise(id);
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Thread.Sleep(100);
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Assert.IsTrue(true);
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Assert.That(true, Is.True);
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}
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[Test]
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OnMessageReceived.Reset();
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RosSocket.Unsubscribe(id);
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Thread.Sleep(100);
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Assert.IsTrue(true);
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Assert.That(true, Is.True);
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}
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[Test]
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RosSocket.CallService<rosapi.GetParamRequest, rosapi.GetParamResponse>("/rosapi/get_param", ServiceCallHandler, new rosapi.GetParamRequest("/rosdistro", "default"));
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OnServiceReceived.WaitOne();
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OnServiceReceived.Reset();
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Assert.IsTrue(true);
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Assert.That(true, Is.True);
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}
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[Test]
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OnServiceProvided.WaitOne();
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OnServiceProvided.Reset();
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RosSocket.UnadvertiseService(id);
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Assert.IsTrue(true);
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Assert.That(true, Is.True);
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}
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private void SubscriptionHandler(std_msgs.String message)

‎Libraries/Urdf/Urdf.csproj‎

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<Project Sdk="Microsoft.NET.Sdk">
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<PropertyGroup>
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<TargetFramework>net8.0</TargetFramework>
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<TargetFrameworks>net8.0;netstandard2.1</TargetFrameworks>
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<OutputType>Library</OutputType>
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<RootNamespace>RosSharp.Urdf</RootNamespace>
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<GenerateAssemblyInfo>false</GenerateAssemblyInfo>
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<Description>URDF file parser for .NET applications</Description>
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<Company>Siemens AG</Company>
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<Product>ROS#</Product>
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<Copyright>Copyright © 2024</Copyright>
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<AssemblyVersion>2.1.0.0</AssemblyVersion>
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<FileVersion>2.1.0.0</FileVersion>
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<Version>2.1.0</Version>
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<Copyright>Copyright © 2025</Copyright>
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<AssemblyVersion>2.1.1.0</AssemblyVersion>
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<FileVersion>2.1.1.0</FileVersion>
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<Version>2.1.1</Version>
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<GeneratePackageOnBuild>True</GeneratePackageOnBuild>
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<PackageId>Siemens.RosSharp.Urdf</PackageId>
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<Title>Urdf</Title>

‎Libraries/UrdfTest/UrdfTest.csproj‎

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<Project Sdk="Microsoft.NET.Sdk">
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<PropertyGroup>
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<TargetFramework>net8.0</TargetFramework>
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<OutputType>Exe</OutputType>
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<TargetFrameworks>net8.0;netstandard2.1</TargetFrameworks>
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<OutputType>Exe</OutputType>
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<GenerateAssemblyInfo>false</GenerateAssemblyInfo>
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<AssemblyTitle>UrdfImporterTest</AssemblyTitle>
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<Company>Siemens AG</Company>

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