StartingOwnProject.md

How to start your own project

This page explains how to create your own project using the rclcs.

First see the testing workspace for code examples and for build system examples. In the following I will explain the step how to create such a workspace.

Create the workspace

Simply create a new workspace / package according to the ros2 manual.

Then inside your package you should have a source folder. Inside this folder you want to create an csproj project either with visual studio or monodevelop. This has two advantages:

* You can write your code inside an ide that helps you write C# code
* It makes the compilation much easier, because we can simply invoke `msbuild` with the csproj file as argument

Edit cmake / package.xml

Open the package.xml in an editor of your choice.

Insert the following lines:

 <build_depend>rclcs</build_depend>
 <exec_depend>rclcs</exec_depend>

Then open the CMakeLists.txt

Insert in the find_package section:

    find_package(dotnet_cmake_module REQUIRED)
    find_package(DotNETExtra MODULE)

Then add your created project as cmake target:

add_msbuild(<project name>
    EXECUTABLE
    CSPROJ
    ${CMAKE_CURRENT_SOURCE_DIR}/src/<your project>.csproj)
install_assemblies(<project name> COPY_DEPENDENCIES DESTINATION bin)