fail to run rcldotnet_examples on win10 OS，throw System.ArgumentNullException

[cqulpj]

my PC system is win10, the ros2 version is foxy, visual studio 2019, .net 3.1/6/7, first, every steps of build was ok, but when I try run the examples, it throw Exceptions, the error messages as follow:

PS C:\opt\ros_dotnet_ws> .\install\local_setup.ps1
PS C:\opt\ros_dotnet_ws> ros2 run rcldotnet_examples rcldotnet_talker

Unhandled Exception: System.TypeInitializationException: The type initializer for 'ROS2.RCLdotnetDelegates' threw an exception. ---> System.ArgumentNullException: Value cannot be null.
Parameter name: ptr
at System.Runtime.InteropServices.Marshal.GetDelegateForFunctionPointer(IntPtr ptr, Type t)
at ROS2.RCLdotnetDelegates..cctor() in C:\opt\ros_dotnet_ws\src\ros2_dotnet\ros2_dotnet\rcldotnet\RCLdotnet.cs:line 451
--- End of inner exception stack trace ---
at ROS2.RCLdotnet.Init() in C:\opt\ros_dotnet_ws\src\ros2_dotnet\ros2_dotnet\rcldotnet\RCLdotnet.cs:line 1399
at ConsoleApplication.RCLDotnetTalker.Main(String[] args) in C:\opt\ros_dotnet_ws\src\ros2_dotnet\ros2_dotnet\rcldotnet_examples\RCLDotnetTalker.cs:line 12

who can give me some suggestions, well regards.

[SiebeVerhoeven]

I've not particularly solved the problem, but I found something.

the rcldotnet_native.dll file is made in the _dllLoadUtils this file has a few ten's of functions. For me the file misses 2 functions that are needed in the RCLDotnet.cs. so I commented them out and now it works fine for me. only thing i'm concerned about is that I now miss these 2 functions. I guess these are not needed for me. but maybe someone can explain what these functions are for:

// IntPtr native_rcl_take_response_ptr = // _dllLoadUtils.GetProcAddress(nativeLibrary, "native_rcl_take_response"); // RCLdotnetDelegates.native_rcl_take_response = // (NativeRCLTakeResponseType)Marshal.GetDelegateForFunctionPointer( // native_rcl_take_response_ptr, typeof(NativeRCLTakeResponseType));

// IntPtr native_rcl_write_to_qos_profile_handle_ptr = // _dllLoadUtils.GetProcAddress(nativeLibrary, "native_rcl_write_to_qos_profile_handle"); // RCLdotnetDelegates.native_rcl_write_to_qos_profile_handle = // (NativeRCLWriteToQosProfileHandleType)Marshal.GetDelegateForFunctionPointer( // native_rcl_write_to_qos_profile_handle_ptr, typeof(NativeRCLWriteToQosProfileHandleType));

[hoffmann-stefan]

@cqulpj, @SiebeVerhoeven: Sorry for the late reply, currently my "spare" time I can allocate for this project is used to get the open PRs done. I tried to setup ros2_dotnet on windows once, but didn't have time to continue yet.

@SiebeVerhoeven did you try a cleen rebuild? Those functions should be defined in the c part of the library, so not sure how they would be missing for you.