Platformsios 6.0, requires ARC

CI Status


  • Xcode
  • CocoaPods
    (Since Ruby/Gems are already installed on OSX, just type sudo gem install cocoapods && pod setup)

How to use

Try Example.

$ pod try ROSiOS

Or clone the repo, and run pod install from the Example directory first.

$ git clone
$ cd ROSiOS/Example
$ pod install
$ open ROSiOS.xcworkspace

Step-by-Step setup on your Xcode project

  1. Add ROSiOS packages as dependencies, and install.

    ROSiOS is available through CocoaPods.
    To install it, simply add the following line to your Podfile (or just create it by pod init):

    pod "ROSiOS"

    Then run pod install.
    That’s it.

    To add ros message/package frameworks, just add the following line to your Podfile.


    pod "ROSiOS"
    pod "ROSiOS-sensor_msgs"  # ROSiOS-<message_type>
    pod "ROSiOS-tf"           # ROSiOS-<package_type>

    Then one more time run pod install.

  2. Setup your project.

    After pod install, you can see the file <your project name>.xcworkspace (*NOT `.xcodeproj`**) that we use it on development.

    • Now open your project.
    open *.xcworkspace
    • Rename main.m ->

    Files that have *.mm extension are recognized as Objective-C++ codes.

    • Setup ROS Configuration into AppDelegate

    Before hacking your app, it’s highly recommended to insert Configuration before the initial view controller of your app.
    This includes setup utilities of ROS Environments (ROS_IP, ROS_MASTER_URI,…).

    • Open the AppDelegate.m (you may have a prefix) on your Xcode.
    • Import utility class header.
    #import "AppDelegate.h"
    + #import <ROSiOS/ROSConfigurationUtil.h>
    • Then add 1 line code to your AppDelegate method.
    - (BOOL)application:(UIApplication *)application didFinishLaunchingWithOptions:(NSDictionary *)launchOptions
      [ROSConfigurationUtil insertROSConfigurationAsInitialInterfaceOfWindow:self.window
                                                                withNodeName:@"sample_ios_app"]; // ROS Node Name
      return YES;
  3. Enjoy hacking! :-)


Yuki Furuta, [email protected]


ROSiOS is available under the MIT license. See the LICENSE file for more info.

Latest podspec

    "name": "ROSiOS",
    "version": "0.0.4",
    "summary": "template package of ROSiOS.",
    "description": "This is a bootstrap package for creating iOS App using ROS(Robot Operating System).nThis includes some examples (Topic Viewer, Talker and Listener) on Example directory.",
    "homepage": "",
    "license": {
        "type": "MIT"
    "authors": {
        "Yuki Furuta": "[email protected]"
    "source": {
        "git": "",
        "tag": "0.0.4"
    "social_media_url": "",
    "platforms": {
        "ios": "6.0"
    "requires_arc": true,
    "source_files": "Pod/Classes/*.{h,m,mm}",
    "resource_bundles": {
        "ROSiOS": [
    "public_header_files": "Pod/Classes/*.h",
    "frameworks": "UIKit",
    "dependencies": {
        "ROSiOS-core": []
    "ios": {
        "xcconfig": {

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