Multiplatform-dotNet-ROS workflow / redistribution issues

edit

I suggest you can ask each simple question seperately to let the one who know ROS can focus.

Here is my own way to run C# program on Ubuntu with ROS nodes.

streamvis-wrappers-ros

  make c# so file
  create new package
  roscreate-pkg sam_wrappers_cs_basic roscpp topic_tools
  cd sam_wrappers_cs_basic/

  vim src/wrapper.cpp
  // Copyright c Julian Brunner 2009 - 2011

  // This file is part of Stream Visualizer (streamvis).
  // 
  // Stream Visualizer is free software: you can redistribute it and/or modify it
  // under the terms of the GNU General Public License as published by the Free
  // Software Foundation, either version 3 of the License, or (at your option) any
  // later version.
  // 
  // Stream Visualizer is distributed in the hope that it will be useful, but
  // WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
  // FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
  // details.
  // 
  // You should have received a copy of the GNU General Public License along with
  // Stream Visualizer. If not, see <http://www.gnu.org/licenses/>.

  #include "sam_wrappers_cs_basic/wrapper.h"

  #include <string>

  #include <ros/ros.h>
  #include <ros/serialization.h>
  #include <topic_tools/shape_shifter.h>

  //New
  #include "std_msgs/String.h"

  using namespace std;
  using namespace ros;
  using namespace ros::serialization;
  using namespace topic_tools;

  //New
  void chatterCallback(const std_msgs::String::ConstPtr& msg)
  {
        ROS_INFO("I heard: [%s]", msg->data.c_str());
  }

  extern "C" void InitializeRos(/*char* node*/)
  {
      int argc = 0;
      char** argv = NULL;

      //string nodeName(node);
      init(argc, argv, "IRA_CSharp_Node");
      NodeHandle n;
      Subscriber sub = n.subscribe("chatter", 1000, chatterCallback);
      spin();
  }

  void ShutdownRos()
  {
      shutdown();
  }
  void RosSpin()
  {
      spin();
  }

  //My subscriber
  extern "C" void InitializeSub(/*char* topic*/)
  {
      NodeHandle n;

      //string topicName(topic);
      Subscriber sub = n.subscribe("chatter", 1000, chatterCallback);
  }

  NodeHandle* CreateNode()
  {
      return new NodeHandle();
  }
  void DisposeNode(NodeHandle* node)
  {
      delete node;
  }

  Subscriber* CreateSubscriber(NodeHandle* node, const char* topicName, unsigned int queueLength, void (*callback)(ShapeShifter::ConstPtr))
  {
      return new Subscriber(node->subscribe<ShapeShifter>(topicName, queueLength, callback));
  }
  void DisposeSubscriber(Subscriber* subscriber)
  {
      delete subscriber;
  }

  // TODO: Memory leaks?
  const char* ShapeShifterGetDataType(const ShapeShifter::ConstPtr message)
  {
      string info = message->getDataType();

      char* result = new char[info.size() + 1];
      strcpy(result, info.c_str());
      return result;  
  }
  const char* ShapeShifterGetDefinition(const ShapeShifter::ConstPtr message)
  {
      string info = message->getMessageDefinition();

      char* result = new char[info.size() + 1];
      strcpy(result, info.c_str());
      return result;
  }
  unsigned char* ShapeShifterGetData(const ShapeShifter::ConstPtr message)
  {
      unsigned char* data = new unsigned char[message->size()];

      OStream stream(data, message->size());
      message->write(stream);

      return data;
  }
  unsigned int ShapeShifterGetDataLength(const ShapeShifter::ConstPtr message)
  {
      return message->size();
  }
  vim include/sam_wrappers_cs_basic/wrapper.h
  // Copyright c Julian Brunner 2009 - 2011

  // This file is part of Stream Visualizer (streamvis).
  // 
  // Stream Visualizer is free software: you can redistribute it and/or modify it
  // under the terms of the GNU General Public License as published by the Free
  // Software Foundation, either version 3 of the License, or (at your option) any
  // later version.
  // 
  // Stream Visualizer is distributed in the hope that it will be useful, but
  // WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
  // FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
  // details.
  // 
  // You ...