Merge pull request #38 from RobotecAI/foxy_fixes_for_custom_messages

Foxy fixes

Author: pijaro

deploy_unity_plugins.ps1

@@ -26,6 +26,7 @@ if (Test-Path -Path $pluginDir) {
     Write-Host "Copying libraries to: '$pluginDir\Windows\x86_64\' ..."
     (Copy-Item -verbose -Path $scriptPath\install\bin\*.dll -Destination ${pluginDir}\Windows\x86_64\ 4>&1).Message
     (Copy-Item -verbose -Path $scriptPath\install\standalone\*.dll -Destination ${pluginDir}\Windows\x86_64\ 4>&1).Message
+    (Copy-Item -verbose -Path $scriptPath\install\resources\*.dll -Destination ${pluginDir}\Windows\x86_64\ 4>&1).Message
     Write-Host "Libraries copied to '${pluginDir}\Windows\x86_64\'" -ForegroundColor Green
 } else {
     Write-Host "Plugins directory: '$pluginDir' doesn't exist. Please create it first manually." -ForegroundColor Red

deploy_unity_plugins.sh

@@ -14,6 +14,7 @@ fi
 pluginDir=$1
 
 mkdir -p  ${pluginDir}/Linux/x86_64/
-cp --verbose $SCRIPTPATH/install/lib/dotnet/* ${pluginDir}
-cp --verbose $SCRIPTPATH/install/standalone/* ${pluginDir}/Linux/x86_64/
-cp --verbose $SCRIPTPATH/install/lib/*.so ${pluginDir}/Linux/x86_64/
+cp $SCRIPTPATH/install/lib/dotnet/* ${pluginDir}
+cp $SCRIPTPATH/install/standalone/* ${pluginDir}/Linux/x86_64/
+cp $SCRIPTPATH/install/lib/*.so ${pluginDir}/Linux/x86_64/
+cp $SCRIPTPATH/install/resources/*.so ${pluginDir}/Linux/x86_64/

src/Ros2ForUnity/Scripts/ROS2ForUnity.cs

@@ -136,7 +136,7 @@ private void SetEnvPathVariable()
     /// Check if the ros version is supported, only applicable to non-standalone plugin versions
     /// (i. e. without ros2 libraries included in the plugin).
     /// </summary>
-    private void CheckROSVersionSourced()
+    private string CheckROSVersionSourced()
     {
         string currentVersion = Environment.GetEnvironmentVariable("ROS_DISTRO");
         List<string> supportedVersions = new List<string>() { "foxy", "galactic" };
@@ -169,6 +169,7 @@ private void CheckROSVersionSourced()
 #endif
         }
         Debug.Log("Running with a supported ROS 2 version: " + currentVersion);
+        return currentVersion;
     }
 
     private void RegisterCtrlCHandler()
@@ -200,9 +201,14 @@ internal ROS2ForUnity()
         } else {
             // Linux version needs to have ros2 sourced, which is checked here. It also loads plugins by absolute path
             // since LD_LIBRARY_PATH cannot be set dynamically within the process for dlopen() which is used under the hood.
-            // Since libraries are built with -rpath=".", dependencies will be correcly located within plugins directory
-            CheckROSVersionSourced();
+            // Since libraries are built with -rpath=".", dependencies will be correcly located within plugins directory.
+            // For foxy, it is also necessary to use modified version of librcpputils to resolve custom msgs packages.
+            string currentRosVersion = CheckROSVersionSourced();
             ROS2.GlobalVariables.absolutePath = GetPluginPath() + "/";
+            if (currentRosVersion == "foxy") {
+                ROS2.GlobalVariables.preloadLibrary = true;
+                ROS2.GlobalVariables.preloadLibraryName = "librcpputils.so";
+            }
         }
         ConnectLoggers();
         Ros2cs.Init();