Target | Status |
---|---|
macOS | |
iOS |
This is a set of projects (bindings, code generator, examples and more) that enables developers to write ROS2 applications in Objective C on macOS and iOS (iPhone, iPad)
Besides this repository itself, there's also:
- https://github.com/esteve/ros2_ios_examples, examples for iOS
- https://github.com/esteve/ros2_objc_examples, examples for macOS
Yes. I decided to target Objective C since I found it is easier to build Swift applications on top of Objective C, than the opposite.
Yep! Make sure to use this fork as your DDS vendor. Even though the name of the branch is "cpp11-android", I ended up adding support for iOS on top of it.
The current set of features include:
- Generation of all builtin ROS types
- Support for publishers and subscriptions
- Clients and services
- Support for iOS (iPhone, iPad)
The following steps show how to build the examples for both macOS and iOS.
mkdir -p ~/ros2_objc_ws/src
cd ~/ros2_objc_ws
wget https://raw.githubusercontent.com/esteve/ros2_objc/master/ros2_objc_macos.repos
vcs import ~/ros2_objc_ws/src < ros2_objc_macos.repos
src/ament/ament_tools/scripts/ament.py build --isolated
Now you can just run a bunch of examples.
Talker:
. ~/ros2_objc_ws/install_isolated/local_setup.sh
ROSTalker
Listener:
. ~/ros2_objc_ws/install_isolated/local_setup.sh
ROSListener
Service:
. ~/ros2_objc_ws/install_isolated/local_setup.sh
ROSAddTwoIntsService
Client:
. ~/ros2_objc_ws/install_isolated/local_setup.sh
ROSAddTwoIntsClientAsync
You can also combine any scenario where the talker/listener or client/service are written in Objective C, Java, Python and C and they should talk to each other.
The iOS setup is slightly more complex. If you do not have a jailbroken device, you will have to sign the resulting apps, which is much easier to do on Xcode's IDE than the command line.
The following was tested on an iPhone 5C running iOS 9.1.
mkdir -p ~/ros2_ios_ws/src
cd ~/ros2_ios_ws
wget https://raw.githubusercontent.com/esteve/ros2_objc/master/ros2_objc_ios.repos
vcs import ~/ros2_ios_ws/src < ros2_objc_ios.repos
touch ~/ros2_ios_ws/src/ruslo/polly/examples/01-executable/AMENT_IGNORE
touch ~/ros2_ios_ws/src/ruslo/polly/examples/02-library/AMENT_IGNORE
touch ~/ros2_ios_ws/src/ruslo/polly/examples/03-shared-link/AMENT_IGNORE
export XCODE_XCCONFIG_FILE=$HOME/ros2_ios_ws/src/ruslo/polly/scripts/NoCodeSign.xcconfig
src/ament/ament_tools/scripts/ament.py build \
--use-xcode \
--cmake-args \
-DTHIRDPARTY=ON \
-DINSTALL_EXAMPLES=OFF \
-DBUILD_SHARED_LIBS=OFF \
-DCMAKE_TOOLCHAIN_FILE=$HOME/ros2_ios_ws/src/ruslo/polly/ios-nocodesign.cmake \
-DCMAKE_XCODE_ATTRIBUTE_ONLY_ACTIVE_ARCH=NO -- \
--make-flags -sdk iphoneos
If you want to run the examples on the iOS Simulator, just replace -sdk iphoneos
with -sdk iphonesimulator
on the command above.
You will now have the supporting static libraries in ~/ros2_ios_ws/install_isolated, so now we need to properly build the examples for iOS and sign them.
Let's fire up XCode, build the talker and listener examples, and install them onto our device.
Talker:
cd ~/ros2_ios_ws
open src/ros2_objc/ros2_ios_examples/ros2_listener_ios/Listener/Listener.xcodeproj
Pick your device from the dropdown next to the "Build" button (the one that looks like a "Play" icon) icon and press "Build". Make sure to choose an appropriate development team to sign the app.
Talker:
cd ~/ros2_ios_ws
open src/ros2_objc/ros2_ios_examples/ros2_talker_ios/Talker/Talker.xcodeproj
Again, choose a valid development team so Xcode can sign the app.
You can try out running the talker on the desktop and the listener on your iOS device or viceversa. Or if you happen to have an Android device, follow the instructions on http://github.com/esteve/ros2_java and have your mobile devices talk to each other :-)
Enjoy!
- Support nested types, constant values and lists in the generator
- Support QoS in rclobjc
- Provide instructions for integrating with Swift
- Add tests
- Add tutorial for developing ROS2/iOS applications from scratch