ROS Package XML for .NET

Handle ROS package.xml files with ease

ROS Package XML allows you to parse ROS package.xml files. It supports package XML versions 1, 2 and 3.

Installation

ROS Package XML for .Net is available as NuGet Package.

dotnet add package RobSharper.Ros.PackageXml

Supported .NET versions

• .NET Standard 2.0
  • .NET Core 2.0 or later
  • .NET Framework 4.6.1 or later
  • Mono 5.4 or later
  • Xamarin.iOS 10.14 or later
  • Xamarin.Mac 3.8 or later
  • Xamarin.Android 8.0 or later
  • Universal Windows Platform 10.0.16299 or later

Dependencies

• none

Usage

var package = PackageXmlReader.ReadPackageXml(filename);

Or if you want to work with the inner xml elements:

var version = PackageXmlReader.GetFormatVersion(filename);

switch (version)
{
    case 1:
        var v1Package = PackageXmlReader.ReadV1PackageXml(filename);
        break;
    case 2:
        var v2Package = PackageXmlReader.ReadV2PackageXml(filename);
        break;
    case 3:
        var v3Package = PackageXmlReader.ReadV3PackageXml(filename);
        break;
    default:
        throw new NotSupportedException();
}

Contributing

How to update data contracts

Data files are generated from ROS Package XSD Files using Microsoft xsd.exe (https://docs.microsoft.com/en-us/dotnet/standard/serialization/xml-schema-definition-tool-xsd-exe). ROS XSD Files are located in the VX (e.g. V2) folder.

Use build.ps1 powershell script to generate a new version of the package. The script takes the path to xsd.exe as only argument.

Generating code with xsd.exe requires you to use Windows!

Example - How to generate package.xml V2 code in powerhsell:

.\build.ps1 "C:\Program Files (x86)\Microsoft SDKs\Windows\v10.0A\bin\NETFX 4.7.2 Tools\xsd.exe"

Resources

• http://wiki.ros.org/catkin/package.xml
• http://download.ros.org/schema/
• http://download.ros.org/schema/package_format1.xsd
• http://download.ros.org/schema/package_format2.xsd
• http://download.ros.org/schema/package_format3.xsd

License

This project is licensed under the BSD 3-clause license. Learn more