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ROS2 Quaternion parsing fix #493

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ROS2 Quaternion parsing fix #493

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8 changes: 4 additions & 4 deletions Libraries/RosBridgeClient/MessageTypes/ROS2/Geometry/msg/Quaternion.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -16,10 +16,10 @@ public class Quaternion : Message
public const string RosMessageName = "geometry_msgs/msg/Quaternion";

// This represents an orientation in free space in quaternion form.
public double x = 0;
public double y = 0;
public double z = 0;
public double w = 1;
public double x { get; set; }
public double y { get; set; }
public double z { get; set; }
public double w { get; set; }

public Quaternion()
{
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3 changes: 3 additions & 0 deletions com.siemens.ros-sharp/CHANGELOG.md
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Expand Up @@ -7,6 +7,9 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),

<!-- Unreleased -->

## [2.2.1] - 02.11.2025
- **ROS2 Quaternion parsing fix**: Properly parse Quaternion data stream on Unity side when using ROS2 client. The older method was using member variable instead of member function for respective components, which broke the json parsing pipeline. Using getter/setter method seems to fix this behaviour.

## [2.2.0] - 22.07.2025

### Added
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8 changes: 4 additions & 4 deletions ....ros-sharp/Runtime/Libraries/RosBridgeClient/MessageTypes/ROS2/Geometry/msg/Quaternion.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -16,10 +16,10 @@ public class Quaternion : Message
public const string RosMessageName = "geometry_msgs/msg/Quaternion";

// This represents an orientation in free space in quaternion form.
public double x = 0;
public double y = 0;
public double z = 0;
public double w = 1;
public double x { get; set; }
public double y { get; set; }
public double z { get; set; }
public double w { get; set; }

public Quaternion()
{
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2 changes: 1 addition & 1 deletion com.siemens.ros-sharp/package.json
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
{
"name": "com.siemens.ros-sharp",
"displayName": "ROS#",
"version": "2.2.0",
"version": "2.2.1",
"unity": "2022.3",
"description": "ROS# is a ROS bridge for the .NET ecosystem, enabling communication and control of robots and robotic systems using C# and other .NET platforms. Unity-specific extensions to [RosBridgeClient](https://github.com/siemens/ros-sharp/tree/master/Libraries/RosBridgeClient)",
"keywords": [
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