use .dll for C++ Ros node in Linux

zeitoun
1

Hello guys.

I need to build a ROS2 Galactic node on a Linux PC (Ubuntu) to get data from a sensor. I have C++ code for that, but it calls functions to interface with the sensor which are inside a .dll file built from a .NET project, which has been build for windows10.
(How) can I embed directly the functions from the .dll file (all of them, there are hundreds of classes, methods, enumerates... a lot !) into the ROS2 node ?
I have the source code of the .NET project and the makefile to generate the .dll (it is using mcs from Mono and scriptcs), so I may port it to the Linux PC and compile there. But what kind of file do I need to generate to embed the .NET project on ROS2, and how ?
Any guidance on the way to proceed would be highly appreciated.

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