ROS2.Net.Msgs 0.1.0

<p align="center"> <img src="assets/icon-128.png" width="112" alt="ROS2.Net logo" /> </p>

<h1 align="center">ROS2.Net</h1>

<p align="center"> <b>A pure .NET 10 implementation of ROS 2</b> — nodes, topics, services, actions, parameters, lifecycle, DDS-RTPS networking, TF2, rosbag2, navigation, SLAM, control, manipulation, perception, simulation and AI, with Blazor & Avalonia components. <b>No ROS 2 installation required.</b> </p>

<p align="center"> Made by <b>Gravicode Studios</b>, led by <b>Kang Fadhil</b> · Dibuat oleh <b>Gravicode Studios</b> dipimpin oleh <b>Kang Fadhil</b> </p>

<p align="center"><a href="#english">English</a> · <a href="#bahasa-indonesia">Bahasa Indonesia</a></p>

<p align="center"> <img src="docs/images/web/gallery-home.png" width="49%" alt="ROS2.Net Gallery (web)" /> <img src="docs/images/desktop/simulator.png" width="49%" alt="ROS2.Net Robot Simulator" /> </p>

English

Why ROS2.Net

• Native .NET client library — idiomatic C# (async/await, IAsyncEnumerable, ILogger, DI) mirroring rclcpp concepts.
• Talks to real ROS 2 — a managed DDS-RTPS middleware (Fast DDS / Cyclone DDS wire protocol, ROS name mangling, graph discovery) and a rosbridge middleware; or zero-copy in-process for composed systems and tests.
• Batteries included — TF2, rosbag2 (MCAP), Nav2-style navigation, SLAM, AMCL/EKF, ros2_control-style controllers, MoveIt-style kinematics & planning, point-cloud/image perception with Rust acceleration, a robot simulator, RL/ONNX/LLM integration, SROS2 keystores.
• Tooling — ros2net CLI (topic/service/action/param/bag/interface/security/doctor), dotnet new templates, Blazor & Avalonia components, the ROS2.Net Gallery (web + desktop) and a desktop Robot Simulator.
• Performance — allocation-aware CDR serialization with array reuse, pooled buffers, per-entity bounded queues, a shared high-resolution timer thread, real-time executor.

Quick start

dotnet add package ROS2.Net

using ROS2.Net;
using StdMsgs = ROS2.Net.Msgs.StdMsgs;

await using var ctx = await Ros2Context.CreateAsync(new Ros2ContextOptions().UseRtps()); // talk to ROS 2 on the LAN
var node = ctx.CreateNode("talker");
var pub = node.CreatePublisher<StdMsgs.String>("chatter");
node.CreateTimer(TimeSpan.FromSeconds(0.5), () => pub.Publish(new() { Data = "Hello from .NET" }));
await ctx.SpinAsync();

Then from a ROS 2 machine: ros2 topic echo /chatter — or with our CLI: ros2net topic echo /chatter.

Packages

Gallery & simulator

<p align="center"> <img src="docs/images/desktop/gallery-home.png" width="49%" alt="Gallery desktop" /> <img src="docs/images/web/gallery-navigation.png" width="49%" alt="Gallery web navigation" /> </p>

dotnet run --project apps/ROS2.Net.Gallery.Web       # web gallery (Blazor)
dotnet run --project apps/ROS2.Net.Gallery.Desktop   # desktop gallery (Avalonia)
dotnet run --project apps/ROS2.Net.Simulator         # robot simulator
dotnet run --project apps/ROS2.Net.Cli -- doctor     # CLI

Build from source

cargo build --release --manifest-path native/ros2net_native/Cargo.toml   # optional native acceleration
dotnet build ROS2.Net.slnx
dotnet test ROS2.Net.slnx

Documentation

docs/en — getting started, concepts, interfaces, every library, tools. See also PLAN.md and Progress.md.

Status

Version 0.1 (preview). Interoperability with Fast DDS / Cyclone DDS and rosbridge follows the specifications and is tested ROS2.Net-to-ROS2.Net; validation against real ROS 2 installations is the next milestone — see Progress.md.

License: MIT.

Bahasa Indonesia

Mengapa ROS2.Net

• Client library .NET asli — C# idiomatis (async/await, IAsyncEnumerable, ILogger, DI) yang mengikuti konsep rclcpp.
• Berbicara dengan ROS 2 sungguhan — middleware DDS-RTPS terkelola (protokol kabel Fast DDS / Cyclone DDS, penamaan ROS, discovery graph) dan middleware rosbridge; atau in-process tanpa salinan untuk sistem terkomposisi dan pengujian.
• Lengkap — TF2, rosbag2 (MCAP), navigasi ala Nav2, SLAM, AMCL/EKF, controller ala ros2_control, kinematika & perencanaan ala MoveIt, persepsi point cloud/citra dengan akselerasi Rust, simulator robot, integrasi RL/ONNX/LLM, keystore SROS2.
• Tooling — CLI ros2net, template dotnet new, komponen Blazor & Avalonia, ROS2.Net Gallery (web + desktop), dan Robot Simulator desktop.
• Performa — serialisasi CDR hemat alokasi dengan pemakaian ulang array, buffer pool, antrean terbatas per entitas, satu thread timer resolusi tinggi bersama, executor real-time.

Mulai cepat

dotnet add package ROS2.Net

await using var ctx = await Ros2Context.CreateAsync(new Ros2ContextOptions().UseRtps()); // berbicara dengan ROS 2 di LAN
var node = ctx.CreateNode("talker");
var pub = node.CreatePublisher<StdMsgs.String>("chatter");
node.CreateTimer(TimeSpan.FromSeconds(0.5), () => pub.Publish(new() { Data = "Halo dari .NET" }));
await ctx.SpinAsync();

Lalu dari mesin ROS 2: ros2 topic echo /chatter — atau dengan CLI kami: ros2net topic echo /chatter.

Galeri & simulator

dotnet run --project apps/ROS2.Net.Gallery.Web       # galeri web (Blazor)
dotnet run --project apps/ROS2.Net.Gallery.Desktop   # galeri desktop (Avalonia)
dotnet run --project apps/ROS2.Net.Simulator         # simulator robot

Dokumentasi

docs/id — memulai, konsep, interface, setiap library, dan tool. Lihat juga PLAN.md dan Progress.md.

Status

Versi 0.1 (pratinjau). Interoperabilitas dengan Fast DDS / Cyclone DDS dan rosbridge dibangun mengikuti spesifikasi dan diuji antar-ROS2.Net; validasi terhadap instalasi ROS 2 sungguhan adalah tahap berikutnya — lihat Progress.md.

Lisensi: MIT.