diff --git a/.gitignore b/.gitignore
index 9723bd9..570e6a4 100644
--- a/.gitignore
+++ b/.gitignore
@@ -14,6 +14,7 @@
 **/tools/
 **/src/build/
 **/upm/com.microsoft.ros_mrtk_native/Plugins/
+**/upm/com.microsoft.ros_mrtk_native/link.xml
 **/nuget/nuget.exe
 
 # User-specific files (MonoDevelop/Xamarin Studio)
diff --git a/build.cmd b/build.cmd
index d382c6f..9143d2a 100644
--- a/build.cmd
+++ b/build.cmd
@@ -13,147 +13,70 @@ echo "VSInstallDir is %VSINSTALLDIR%"
 
 set clean=false
 set DEBUG_CMD=
-: Call to build the isolated ROS2 build system
-set ChocolateyInstall=c:\opt\chocolatey
-
-set CMAKE_PREFIX_PATH_ORIG=%CMAKE_PREFIX_PATH%
-set PATH=c:\opt\chocolatey\bin;C:\opt\python37amd64\;C:\opt\python37amd64\Scripts;C:\opt\python37amd64\DLLs;%PATH%
-set PATH_ORIG=%PATH%
-
-set VCPKG_ROOT=c:\opt\vcpkg
-set PYTHONHOME=C:\opt\python37amd64\
-
 
 :: Parse options
 :GETOPTS
  if /I "%~1" == "/?" goto USAGE
  if /I "%~1" == "/Help" goto USAGE
- if /I "%~1" == "/x86" set BUILD=x86
- if /I "%~1" == "/x64" set BUILD=x64
- if /I "%~1" == "/arm64" set BUILD=arm64
- if /I "%~1" == "/arm" set BUILD=arm
- if /I "%~1" == "/unity" set BUILD=unity
- if /I "%~1" == "/clean" set clean=true
- shift
-if not (%1)==() goto GETOPTS
-
-if "%BUILD%"=="x86" goto :build_x86
-if "%BUILD%"=="x64" goto :build_x64
-if "%BUILD%"=="unity" goto :build_unity
-if "%BUILD%"=="arm" goto :build_arm
-if "%BUILD%"=="arm64" goto :build_arm64
-
-:build_unity
-setlocal
-set ROS2_ARCH=x64
-call tools\unity\local_setup.bat
-
-pushd target
-set CMAKE_PREFIX_PATH=C:/opt/vcpkg/installed/x64-windows;%CMAKE_PREFIX_PATH_ORIG%
-set PATH=c:\opt\vcpkg;c:\opt\vcpkg\installed\x64-windows\bin;%PATH_ORIG%
-call "%VSINSTALLDIR%\VC\Auxiliary\Build\vcvars64.bat"
+ 
+ if /I "%~1" == "/x64" (
+     set BUILD_ARCH=x64
+     set BUILD_BASE=x64
+     set BUILD_SYSTEM=WindowsStore
+ )
+ 
+ if /I "%~1" == "/arm64" (
+     set BUILD_ARCH=arm64
+     set BUILD_BASE=arm64
+     set BUILD_SYSTEM=WindowsStore
+ )
+ 
+ if /I "%~1" == "/unity" (
+     set BUILD_ARCH=x64
+     set BUILD_BASE=unity
+     set BUILD_SYSTEM=Windows
+ )
+if /I "%~1" == "/clean" set clean=true
+shift
 
-if "%clean%"=="true" (
-    if exist unity_build rd /s /q unity_build
-    if exist unity rd /s /q unity
-)
-
-: Disable Shared Memory when running under unity
-: TODO: figure out why shared memory isn't happy
-call colcon build --event-handlers console_cohesion+ --merge-install --build-base .\unity_build --install-base .\unity --packages-ignore tf2_bullet tf2_py examples_tf2_py rmw_fastrtps_dynamic_cpp rcl_logging_log4cxx rcl_logging_spdlog ros2trace tracetools_launch tracetools_read tracetools_test tracetools_trace rcldotnet_examples --cmake-args -A %ROS2_ARCH%  -DCSHARP_PLATFORM=x64 -DDOTNET_CORE_ARCH=x64 -DCMAKE_SYSTEM_VERSION=10.0 -DTHIRDPARTY=ON -DINSTALL_EXAMPLES=OFF -DBUILD_TESTING=OFF -DSHM_TRANSPORT_DEFAULT=OFF -DRCL_LOGGING_IMPLEMENTATION=rcl_logging_noop --no-warn-unused-cli -DCMAKE_BUILD_TYPE=RelWithDebInfo -Wno-dev 
-if "%ERRORLEVEL%" NEQ "0" goto :build_fail 
-if "%BUILD%"=="unity" goto :build_succeeded
-
-:build_x64
-setlocal
-set ROS2_ARCH=x64
-call tools\x64\local_setup.bat
-
-pushd target
-set CMAKE_PREFIX_PATH=C:/opt/vcpkg/installed/x64-uwp;%CMAKE_PREFIX_PATH_ORIG%
-set PATH=c:\opt\vcpkg;c:\opt\vcpkg\installed\x64-uwp\bin;%PATH_ORIG%
-call "%VSINSTALLDIR%\VC\Auxiliary\Build\vcvars64.bat"
+if not (%1)==() goto GETOPTS
 
-if "%clean%"=="true" (
-    if exist x64_build rd /s /q x64_build
-    if exist x64 rd /s /q x64
-)
+: Call to build the isolated ROS2 build system
+set ChocolateyInstall=c:\opt\chocolatey
 
-call colcon build --event-handlers console_cohesion+ --merge-install --build-base .\x64_build --install-base .\x64 --packages-ignore tf2_bullet tf2_py examples_tf2_py rmw_fastrtps_dynamic_cpp rcl_logging_log4cxx rcl_logging_spdlog ros2trace tracetools_launch tracetools_read tracetools_test tracetools_trace rcldotnet_examples --cmake-args -A %ROS2_ARCH%  -DCSHARP_PLATFORM=x64 -DDOTNET_CORE_ARCH=x64 -DCMAKE_SYSTEM_NAME=WindowsStore -DCMAKE_SYSTEM_VERSION=10.0 -DTHIRDPARTY=ON -DINSTALL_EXAMPLES=OFF -DBUILD_TESTING=OFF -DRCL_LOGGING_IMPLEMENTATION=rcl_logging_noop --no-warn-unused-cli -DCMAKE_BUILD_TYPE=RelWithDebInfo -Wno-dev 
-if "%ERRORLEVEL%" NEQ "0" goto :build_fail 
-if "%BUILD%"=="x64" goto :build_succeeded
+set PATH_ORIG=%PATH%
 
-:build_arm64
-setlocal
-set ROS2_ARCH=arm64
-call tools\arm64\local_setup.bat
+set CMAKE_PREFIX_PATH_ORIG=%CMAKE_PREFIX_PATH%
+set PYTHONHOME=C:\opt\mrtk_python
+set ChocolateyInstall=c:\opt\mrtk_chocolatey
+set PATH=c:\opt\mrtk_vcpkg;c:\opt\chocolatey\bin;C:\opt\mrtk_python;C:\opt\mrtk_python\Scripts;%PATH%
+set VCPKG_ROOT=c:\opt\mrtk_vcpkg
 
-pushd target
-set CMAKE_PREFIX_PATH=C:/opt/vcpkg/installed/arm64-uwp;%CMAKE_PREFIX_PATH_ORIG%
-set PATH=c:\opt\vcpkg;c:\opt\vcpkg\installed\arm64-uwp\bin;%PATH_ORIG%
-call "%VSINSTALLDIR%\VC\Auxiliary\Build\vcvarsamd64_arm64.bat"
+set ARCH_LIST=x64 arm64 unity
 
 if "%clean%"=="true" (
-    if exist arm64_build rd /s /q arm64_build
-    if exist install rd /s /q install
-)
-
-call colcon build --event-handlers console_cohesion+ --merge-install --build-base .\arm64_build --install-base .\arm64 --packages-ignore tf2_bullet tf2_py examples_tf2_py rmw_fastrtps_dynamic_cpp rcl_logging_log4cxx rcl_logging_spdlog ros2trace tracetools_launch tracetools_read tracetools_test tracetools_trace rcldotnet_examples --cmake-args -A %ROS2_ARCH%  -DCSHARP_PLATFORM=arm64 -DDOTNET_CORE_ARCH=arm64 -DCMAKE_SYSTEM_NAME=WindowsStore -DCMAKE_SYSTEM_VERSION=10.0 -DINSTALL_EXAMPLES=OFF -DBUILD_TESTING=OFF -DRCL_LOGGING_IMPLEMENTATION=rcl_logging_noop --no-warn-unused-cli -DCMAKE_BUILD_TYPE=RelWithDebInfo -Wno-dev
-if "%ERRORLEVEL%" NEQ "0" goto :build_fail 
-if "%BUILD%"=="arm64" goto :build_succeeded
-
-
-
-:build_arm
-setlocal
-set ROS2_ARCH=arm
-call tools\arm\local_setup.bat
-
-pushd target
-set CMAKE_PREFIX_PATH=C:/opt/vcpkg/installed/arm-uwp;%CMAKE_PREFIX_PATH_ORIG%
-set PATH=c:\opt\vcpkg;c:\opt\vcpkg\installed\arm-uwp\bin;%PATH_ORIG%
-call "%VSINSTALLDIR%\VC\Auxiliary\Build\vcvarsamd64_arm.bat"
+    pushd tools
+    for %%a in (%ARCH_LIST%) do ( 
+        if exist %%a_build rd /s /q %%a_build
+        if exist %%a rd /s /q %%a
+    )
+    popd
 
-if "%clean%"=="true" (
-    if exist arm64_build rd /s /q arm64_build
-    if exist install rd /s /q install
+    if "%BUILD_ARCH%" == "" ( 
+        goto :eof
+    )
 )
 
-call colcon build --event-handlers console_cohesion+ --merge-install --build-base .\arm_build --install-base .\arm --packages-ignore tf2_bullet tf2_py examples_tf2_py rmw_fastrtps_dynamic_cpp rcl_logging_log4cxx rcl_logging_spdlog ros2trace tracetools_launch tracetools_read tracetools_test tracetools_trace rcldotnet_examples --cmake-args -A %ROS2_ARCH%  -DCSHARP_PLATFORM=arm -DDOTNET_CORE_ARCH=arm -DCMAKE_SYSTEM_NAME=WindowsStore -DCMAKE_SYSTEM_VERSION=10.0 -DINSTALL_EXAMPLES=OFF -DBUILD_TESTING=OFF -DRCL_LOGGING_IMPLEMENTATION=rcl_logging_noop --no-warn-unused-cli -DCMAKE_BUILD_TYPE=RelWithDebInfo -Wno-dev
-if "%ERRORLEVEL%" NEQ "0" goto :build_fail 
-if "%BUILD%"=="arm" goto :build_succeeded
-
-: build x86
-:build_x86
 setlocal
-: x86 is called Win32 in cmakelandia
-set ROS2_ARCH=Win32
-call tools\x86\local_setup.bat
-
-pushd target
-set CMAKE_PREFIX_PATH=C:/opt/vcpkg/installed/x86-uwp;%CMAKE_PREFIX_PATH_ORIG%
-set PATH=c:\opt\vcpkg;c:\opt\vcpkg\installed\x86-uwp\bin;%PATH_ORIG%
-call "%VSINSTALLDIR%\VC\Auxiliary\Build\vcvarsamd64_x86.bat"
-
-if "%clean%"=="true" (
-    if exist x86_build rd /s /q x86_build
-    if exist x86 rd /s /q x86
-)
-
-call colcon build --event-handlers console_cohesion+ --merge-install --build-base .\x86_build --install-base .\x86 --packages-ignore tf2_py examples_tf2_py rmw_fastrtps_dynamic_cpp rcl_logging_log4cxx rcl_logging_spdlog ros2trace tracetools_launch tracetools_read tracetools_test tracetools_trace rcldotnet_examples --cmake-args -A %ROS2_ARCH% -DCSHARP_PLATFORM=x86 -DDOTNET_CORE_ARCH=x86 -DCMAKE_SYSTEM_NAME=WindowsStore -DCMAKE_SYSTEM_VERSION=10.0 -DTHIRDPARTY=ON -DINSTALL_EXAMPLES=OFF -DBUILD_TESTING=OFF -DRCL_LOGGING_IMPLEMENTATION=rcl_logging_noop --no-warn-unused-cli -DCMAKE_BUILD_TYPE=RelWithDebInfo -Wno-dev
+call colcon build --event-handlers console_cohesion+ --merge-install --build-base .\%BUILD_BASE%_build --install-base .\%BUILD_BASE% --cmake-args -A %BUILD_ARCH%  -DCSHARP_PLATFORM=%BUILD_ARCH% -DCMAKE_SYSTEM_NAME=%BUILD_SYSTEM% -DDOTNET_CORE_ARCH=%BUILD_ARCH% -DCMAKE_SYSTEM_VERSION=10.0 --no-warn-unused-cli -DCMAKE_BUILD_TYPE=RelWithDebInfo -Wno-dev 
+endlocal
 if "%ERRORLEVEL%" NEQ "0" goto :build_fail 
-if "%BUILD%"=="x86" goto :build_succeeded
-
-goto :build_succeeded
+goto :eof
 
 :build_fail
-popd
 goto :eof
 
 :USAGE 
-    echo "build [/x64|/x86|/arm64|/arm] [/clean]"
+    echo "build [/arm64 | /unity / x64] [/clean]"
     goto :eof
 
-:build_succeeded
-endlocal
-popd
\ No newline at end of file
diff --git a/build_dotnet.cmd b/build_dotnet.cmd
deleted file mode 100644
index a45bb19..0000000
--- a/build_dotnet.cmd
+++ /dev/null
@@ -1,169 +0,0 @@
-: @echo off
-setlocal enableextensions disabledelayedexpansion
-
-if "%VSINSTALLDIR%" == "" (
-    if exist "C:\Program Files (x86)\Microsoft Visual Studio\2019\Community" (
-        set "VSINSTALLDIR=C:\Program Files (x86)\Microsoft Visual Studio\2019\Community\"
-    )
-    if exist "C:\Program Files (x86)\Microsoft Visual Studio\2019\Enterprise" (
-        set "VSINSTALLDIR=C:\Program Files (x86)\Microsoft Visual Studio\2019\Enterprise\"
-    )
-)    
-echo "VSInstallDir is %VSINSTALLDIR%"
-
-set clean=false
-set DEBUG_CMD=
-: Call to build the isolated ROS2 build system
-set ChocolateyInstall=c:\opt\chocolatey
-
-set CMAKE_PREFIX_PATH_ORIG=%CMAKE_PREFIX_PATH%
-set PATH=c:\opt\chocolatey\bin;C:\opt\python37amd64\;C:\opt\python37amd64\Scripts;C:\opt\python37amd64\DLLs;%PATH%
-set PATH_ORIG=%PATH%
-
-set VCPKG_ROOT=c:\opt\vcpkg
-set PYTHONHOME=C:\opt\python37amd64\
-
-
-:: Parse options
-:GETOPTS
- if /I "%~1" == "/?" goto USAGE
- if /I "%~1" == "/Help" goto USAGE
- if /I "%~1" == "/x86" set BUILD=x86
- if /I "%~1" == "/x64" set BUILD=x64
- if /I "%~1" == "/arm64" set BUILD=arm64
- if /I "%~1" == "/arm" set BUILD=arm
- if /I "%~1" == "/unity" set BUILD=unity
- if /I "%~1" == "/clean" set clean=true
- if /I "%~1" == "/debug" set DEBUG_CMD=-DCMAKE_BUILD_TYPE=RelWithDebInfo
- shift
-if not (%1)==() goto GETOPTS
-
-if "%BUILD%"=="x86" goto :build_x86
-if "%BUILD%"=="x64" goto :build_x64
-if "%BUILD%"=="unity" goto :build_unity
-if "%BUILD%"=="arm" goto :build_arm
-if "%BUILD%"=="arm64" goto :build_arm64
-
-:build_unity
-setlocal
-set ROS2_ARCH=x64
-call tools\unity\local_setup.bat
-call target\unity\local_setup.bat
-
-pushd ros2dotnet
-set CMAKE_PREFIX_PATH=C:/opt/vcpkg/installed/x64-windows;%CMAKE_PREFIX_PATH_ORIG%
-set PATH=c:\opt\vcpkg;c:\opt\vcpkg\installed\x64-windows\bin;%PATH_ORIG%
-call "%VSINSTALLDIR%\VC\Auxiliary\Build\vcvars64.bat"
-
-if "%clean%"=="true" (
-    if exist unity_build rd /s /q build
-    if exist unity rd /s /q unity
-)
-
-call colcon build --event-handlers console_cohesion+ --merge-install --build-base .\unity_build --install-base .\unity --cmake-args -A %ROS2_ARCH%  -DCSHARP_PLATFORM=x64 -DDOTNET_CORE_ARCH=x64 -DCMAKE_SYSTEM_VERSION=10.0 -DTHIRDPARTY=ON -DINSTALL_EXAMPLES=OFF -DBUILD_TESTING=OFF -DRCL_LOGGING_IMPLEMENTATION=rcl_logging_noop --no-warn-unused-cli %DEBUG_CMD% -Wno-dev 
-if "%ERRORLEVEL%" NEQ "0" goto :eof 
-endlocal
-popd
-if "%BUILD%"=="unity" goto :eof
-
-:build_x64
-setlocal
-set ROS2_ARCH=x64
-call tools\x64\local_setup.bat
-call target\x64\local_setup.bat
-
-pushd ros2dotnet
-set CMAKE_PREFIX_PATH=C:/opt/vcpkg/installed/x64-uwp;%CMAKE_PREFIX_PATH_ORIG%
-set PATH=c:\opt\vcpkg;c:\opt\vcpkg\installed\x64-uwp\bin;%PATH_ORIG%
-call "%VSINSTALLDIR%\VC\Auxiliary\Build\vcvars64.bat"
-
-if "%clean%"=="true" (
-    if exist x64_build rd /s /q x64_build
-    if exist x64 rd /s /q x64
-)
-
-call colcon build --event-handlers console_cohesion+ --merge-install --build-base .\x64_build --install-base .\x64 --cmake-args -A %ROS2_ARCH%  -DCSHARP_PLATFORM=x64 -DDOTNET_CORE_ARCH=x64 -DCMAKE_SYSTEM_NAME=WindowsStore -DCMAKE_SYSTEM_VERSION=10.0 -DTHIRDPARTY=ON -DINSTALL_EXAMPLES=OFF -DBUILD_TESTING=OFF -DRCL_LOGGING_IMPLEMENTATION=rcl_logging_noop --no-warn-unused-cli %DEBUG_CMD% -Wno-dev 
-if "%ERRORLEVEL%" NEQ "0" goto :build_fail 
-endlocal
-popd
-if "%BUILD%"=="x64" goto :eof
-
-:build_arm64
-setlocal
-set ROS2_ARCH=arm64
-call tools\arm64\local_setup.bat
-call target\arm64\local_setup.bat
-
-pushd ros2dotnet
-set CMAKE_PREFIX_PATH=C:/opt/vcpkg/installed/arm64-uwp;%CMAKE_PREFIX_PATH_ORIG%
-set PATH=c:\opt\vcpkg;c:\opt\vcpkg\installed\arm64-uwp\bin;%PATH_ORIG%
-call "%VSINSTALLDIR%\VC\Auxiliary\Build\vcvarsamd64_arm64.bat"
-
-if "%clean%"=="true" (
-    if exist arm64_build rd /s /q arm64_build
-    if exist arm64 rd /s /q arm64
-)
-
-call colcon build --event-handlers console_cohesion+ --merge-install --build-base .\arm64_build --install-base .\arm64 --cmake-args -A %ROS2_ARCH%  -DCSHARP_PLATFORM=arm64 -DDOTNET_CORE_ARCH=arm64 -DCMAKE_SYSTEM_NAME=WindowsStore -DCMAKE_SYSTEM_VERSION=10.0 -DINSTALL_EXAMPLES=OFF -DBUILD_TESTING=OFF -DRCL_LOGGING_IMPLEMENTATION=rcl_logging_noop --no-warn-unused-cli %DEBUG_CMD% -Wno-dev
-if "%ERRORLEVEL%" NEQ "0" goto :build_fail 
-endlocal
-popd
-if "%BUILD%"=="arm64" goto :eof
-
-
-
-:build_arm
-setlocal
-set ROS2_ARCH=arm
-call tools\arm\local_setup.bat
-call target\arm\local_setup.bat
-
-pushd ros2dotnet
-set CMAKE_PREFIX_PATH=C:/opt/vcpkg/installed/arm-uwp;%CMAKE_PREFIX_PATH_ORIG%
-set PATH=c:\opt\vcpkg;c:\opt\vcpkg\installed\arm-uwp\bin;%PATH_ORIG%
-call "%VSINSTALLDIR%\VC\Auxiliary\Build\vcvarsamd64_arm.bat"
-
-if "%clean%"=="true" (
-    if exist arm_build rd /s /q arm_build
-    if exist arm rd /s /q arm
-)
-
-call colcon build --event-handlers console_cohesion+ --merge-install --build-base .\arm_build --install-base .\arm--cmake-args -A %ROS2_ARCH%  -DCSHARP_PLATFORM=arm -DDOTNET_CORE_ARCH=arm -DCMAKE_SYSTEM_NAME=WindowsStore -DCMAKE_SYSTEM_VERSION=10.0 -DINSTALL_EXAMPLES=OFF -DBUILD_TESTING=OFF -DRCL_LOGGING_IMPLEMENTATION=rcl_logging_noop --no-warn-unused-cli %DEBUG_CMD% -Wno-dev
-if "%ERRORLEVEL%" NEQ "0" goto :build_fail 
-endlocal
-popd
-if "%BUILD%"=="arm" goto :eof
-
-: build x86
-:build_x86
-setlocal
-: x86 is called Win32 in cmakelandia
-set ROS2_ARCH=Win32
-call tools\x86\local_setup.bat
-call target\x86\local_setup.bat
-
-pushd ros2dotnet
-set CMAKE_PREFIX_PATH=C:/opt/vcpkg/installed/x86-uwp;%CMAKE_PREFIX_PATH_ORIG%
-set PATH=c:\opt\vcpkg;c:\opt\vcpkg\installed\x86-uwp\bin;%PATH_ORIG%
-call "%VSINSTALLDIR%\VC\Auxiliary\Build\vcvarsamd64_x86.bat"
-
-if "%clean%"=="true" (
-    if exist x86_build rd /s /q x86_build
-    if exist x86 rd /s /q x86
-)
-
-call colcon build --event-handlers console_cohesion+ --merge-install --build-base .\x86_build --install-base .\x86 --packages-ignore tf2_py examples_tf2_py rmw_fastrtps_dynamic_cpp rcl_logging_log4cxx rcl_logging_spdlog ros2trace tracetools_launch tracetools_read tracetools_test tracetools_trace rcldotnet_examples --cmake-args -A %ROS2_ARCH% -DCSHARP_PLATFORM=x86 -DDOTNET_CORE_ARCH=x86 -DCMAKE_SYSTEM_NAME=WindowsStore -DCMAKE_SYSTEM_VERSION=10.0 -DTHIRDPARTY=ON -DINSTALL_EXAMPLES=OFF -DBUILD_TESTING=OFF -DRCL_LOGGING_IMPLEMENTATION=rcl_logging_noop --no-warn-unused-cli %DEBUG_CMD% -Wno-dev
-if "%ERRORLEVEL%" NEQ "0" goto :build_fail 
-endlocal
-popd
-if "%BUILD%"=="x86" goto :eof
-
-goto :eof
-
-:build_fail
-popd
-goto :eof
-
-:USAGE 
-    echo "build [/x64|/x86|/arm64|/arm] [/clean]"
-    goto :eof
diff --git a/build_nuget.cmd b/build_nuget.cmd
index 0859da4..0d54d13 100644
--- a/build_nuget.cmd
+++ b/build_nuget.cmd
@@ -23,8 +23,6 @@ pushd nuget
  if /I "%~1" == "/Help" goto USAGE
  if /I "%~1" == "/clean" set CLEAN=1
  if /I "%~1" == "/nopack" set NOPACK=1
- if /I "%~1" == "/arm" set NUSPEC="Microsoft.ROS.MRTK.Foxy.arm"
- if /I "%~1" == "/x86" set NUSPEC="Microsoft.ROS.MRTK.Foxy.x86"
  if /I "%~1" == "/x64" set NUSPEC="Microsoft.ROS.MRTK.Foxy.x64"
  if /I "%~1" == "/arm64" set NUSPEC="Microsoft.ROS.MRTK.Foxy.arm64"
  if /I "%~1" == "/unity" set NUSPEC="Microsoft.ROS.MRTK.Foxy.unity"
diff --git a/build_target.cmd b/build_target.cmd
new file mode 100644
index 0000000..af31694
--- /dev/null
+++ b/build_target.cmd
@@ -0,0 +1,103 @@
+: @echo off
+setlocal enableextensions disabledelayedexpansion
+
+if "%VSINSTALLDIR%" == "" (
+    if exist "C:\Program Files (x86)\Microsoft Visual Studio\2019\Community" (
+        set "VSINSTALLDIR=C:\Program Files (x86)\Microsoft Visual Studio\2019\Community\"
+    )
+    if exist "C:\Program Files (x86)\Microsoft Visual Studio\2019\Enterprise" (
+        set "VSINSTALLDIR=C:\Program Files (x86)\Microsoft Visual Studio\2019\Enterprise\"
+    )
+)    
+echo "VSInstallDir is %VSINSTALLDIR%"
+echo "Current dir is %~dp0"
+
+set clean=false
+set DEBUG_CMD=
+set CMAKE_PREFIX_PATH_ORIG=%CMAKE_PREFIX_PATH%
+set PATH_ORIG=%PATH%
+
+set PYTHONHOME=C:\opt\mrtk_python
+set ChocolateyInstall=c:\opt\mrtk_chocolatey
+set PATH=c:\opt\mrtk_vcpkg;c:\opt\chocolatey\bin;C:\opt\mrtk_python;C:\opt\mrtk_python\Scripts;%PATH%
+set VCPKG_ROOT=c:\opt\mrtk_vcpkg
+
+set ROS_TOOLS_DIR=%~dp0\tools
+
+:: Parse options
+:GETOPTS
+if /I "%~1" == "/?" goto USAGE
+if /I "%~1" == "/Help" goto USAGE
+if /I "%~1" == "/x64" (
+    set BUILD_ARCH=x64
+    set BUILD_BASE=x64
+    set BUILD_SYSTEM=WindowsStore
+    call "%VSINSTALLDIR%\VC\Auxiliary\Build\vcvars64.bat"
+    set "VCPKG_INSTALLED=%VCPKG_ROOT%\installed\x64-uwp"
+)
+ 
+if /I "%~1" == "/arm64" (
+    set BUILD_ARCH=arm64
+    set BUILD_BASE=arm64
+    set BUILD_SYSTEM=WindowsStore
+    call "%VSINSTALLDIR%\VC\Auxiliary\Build\vcvarsamd64_arm64.bat"
+    set "VCPKG_INSTALLED=%VCPKG_ROOT%\installed\arm64-uwp"
+)
+ 
+if /I "%~1" == "/unity" (
+    set BUILD_ARCH=x64
+    set BUILD_BASE=unity
+    set BUILD_SYSTEM=Windows
+    call "%VSINSTALLDIR%\VC\Auxiliary\Build\vcvars64.bat"
+    set "VCPKG_INSTALLED=%VCPKG_ROOT%\installed\x64-windows"
+)
+
+if /I "%~1" == "/clean" set clean=true
+shift
+
+if not (%1)==() goto GETOPTS
+
+set ARCH_LIST=x64 arm64 unity
+
+if "%clean%"=="true" (
+    pushd target
+    for %%a in (%ARCH_LIST%) do ( 
+        if exist %%a_build rd /s /q %%a_build
+        if exist %%a rd /s /q %%a
+    )
+    popd
+
+    if "%BUILD_ARCH%" == "" ( 
+        goto :eof
+    )
+  
+)
+
+: Instead of calling tools\build_arch\setup.bat, we need to break it out manually
+: This is done because cmake will resolve a ROS install in opt rather than the one we built here. 
+: just now.
+: in this directory...
+echo "CMAKE_PREFIX_PATH is %CMAKE_PREFIX_PATH%"
+echo "PATH is %PATH%"
+
+call tools\%BUILD_ARCH%\local_setup.bat
+
+set "CMAKE_PREFIX_PATH=%VCPKG_INSTALLED%;%ROS_TOOLS_DIR%\%BUILD_ARCH%;%CMAKE_PREFIX_PATH%"
+set "PATH=%VCPKG_INSTALLED%\bin;%ROS_TOOLS_DIR%\%BUILD_ARCH%\bin;%ROS_TOOLS_DIR%\%BUILD_ARCH%\Scripts;%PATH%"
+
+pushd target
+call colcon build --event-handlers console_cohesion+ --merge-install --build-base .\%BUILD_BASE%_build --install-base .\%BUILD_BASE% --packages-ignore tf2_bullet tf2_py examples_tf2_py rmw_fastrtps_dynamic_cpp rcl_logging_log4cxx rcl_logging_spdlog ros2trace tracetools_launch tracetools_read tracetools_test tracetools_trace rcldotnet_examples --cmake-args -A %BUILD_ARCH%  -DCSHARP_PLATFORM=%BUILD_ARCH% -DDOTNET_CORE_ARCH=%BUILD_ARCH% -DCMAKE_SYSTEM_NAME=%BUILD_SYSTEM% -DCMAKE_SYSTEM_VERSION=10.0 -DTHIRDPARTY=ON -DINSTALL_EXAMPLES=OFF -DBUILD_TESTING=OFF -DSHM_TRANSPORT_DEFAULT=OFF -DRCL_LOGGING_IMPLEMENTATION=rcl_logging_noop --no-warn-unused-cli -DCMAKE_BUILD_TYPE=RelWithDebInfo -Wno-dev -DCMAKE_CXX_FLAGS=" /EHsc /DOPENSSL_NO_DEPRECATED /DOPENSSL_NO_DEPRECATED_3_0"
+if "%ERRORLEVEL%" NEQ "0" goto :build_fail 
+goto :build_succeeded
+
+:build_fail
+    echo "build has failed"
+popd
+goto :eof
+
+:USAGE 
+    echo "build [/x64|/x86|/arm64|/arm] [/clean]"
+    goto :eof
+
+:build_succeeded
+popd
\ No newline at end of file
diff --git a/build_tools.cmd b/build_tools.cmd
new file mode 100644
index 0000000..46ef6ce
--- /dev/null
+++ b/build_tools.cmd
@@ -0,0 +1,6 @@
+: @echo off
+pushd tools
+call ..\build /x64
+call ..\build /arm64
+call ..\build /unity
+popd
\ No newline at end of file
diff --git a/inittools.cmd b/inittools.cmd
deleted file mode 100644
index 3c0bbf3..0000000
--- a/inittools.cmd
+++ /dev/null
@@ -1,138 +0,0 @@
-: @echo off
-setlocal enableextensions disabledelayedexpansion
-
-if "%VSINSTALLDIR%" == "" (
-    if exist "C:\Program Files (x86)\Microsoft Visual Studio\2019\Community" (
-        set "VSINSTALLDIR=C:\Program Files (x86)\Microsoft Visual Studio\2019\Community\"
-    )
-    if exist "C:\Program Files (x86)\Microsoft Visual Studio\2019\Enterprise" (
-        set "VSINSTALLDIR=C:\Program Files (x86)\Microsoft Visual Studio\2019\Enterprise\"
-    )
-)    
-echo "VSInstallDir is %VSINSTALLDIR%"
-call "%VSINSTALLDIR%\VC\Auxiliary\Build\vcvars64.bat"
-
-set clean=false
-set DEBUG_CMD=
-
-:: Parse options
-:GETOPTS
- if /I "%~1" == "/?" goto USAGE
- if /I "%~1" == "/Help" goto USAGE
- if /I "%~1" == "/x86" set BUILD=x86
- if /I "%~1" == "/x64" set BUILD=x64
- if /I "%~1" == "/arm64" set BUILD=arm64
- if /I "%~1" == "/arm" set BUILD=arm
- if /I "%~1" == "/unity" set BUILD=unity
- if /I "%~1" == "/clean" set clean=true
- shift
-if not (%1)==() goto GETOPTS
-
-: Call to build the isolated ROS2 build system
-set ChocolateyInstall=c:\opt\chocolatey
-
-set CMAKE_PREFIX_PATH_ORIG=%CMAKE_PREFIX_PATH%
-set PATH=c:\opt\chocolatey\bin;C:\opt\python37amd64\;C:\opt\python37amd64\Scripts;C:\opt\python37amd64\DLLs;%PATH%
-set PATH_ORIG=%PATH%
-set VCPKG_ROOT=c:\opt\vcpkg
-set PYTHONHOME=C:\opt\python37amd64\
-
-if "%BUILD%"=="x86" goto :build_x86
-if "%BUILD%"=="x64" goto :build_x64
-if "%BUILD%"=="unity" goto :build_unity
-if "%BUILD%"=="arm" goto :build_arm
-if "%BUILD%"=="arm64" goto :build_arm64
-
-:build_unity
-pushd tools
-setlocal
-set ROS2_ARCH=x64
-if "%clean%"=="true" (
-    if exist unity_build rd /s /q build
-    if exist unity rd /s /q unity
-)
-
-call colcon build --event-handlers console_cohesion+ --merge-install --build-base .\unity_build --install-base .\unity --cmake-args -A %ROS2_ARCH%  -DCSHARP_PLATFORM=x64 -DDOTNET_CORE_ARCH=x64 -DCMAKE_SYSTEM_VERSION=10.0 --no-warn-unused-cli -DCMAKE_BUILD_TYPE=RelWithDebInfo -Wno-dev 
-
-if "%ERRORLEVEL%" NEQ "0" goto :build_fail 
-endlocal
-popd
-if "%BUILD%"=="unity" goto :eof
-
-:build_x64
-pushd tools
-setlocal
-set ROS2_ARCH=x64
-if "%clean%"=="true" (
-    if exist x64_build rd /s /q x64_build
-    if exist x64 rd /s /q x64
-)
-
-call colcon build --event-handlers console_cohesion+ --merge-install --build-base .\x64_build --install-base .\x64 --cmake-args -A %ROS2_ARCH%  -DCSHARP_PLATFORM=x64 -DDOTNET_CORE_ARCH=x64 -DCMAKE_SYSTEM_NAME=WindowsStore -DCMAKE_SYSTEM_VERSION=10.0 --no-warn-unused-cli -DCMAKE_BUILD_TYPE=RelWithDebInfo -Wno-dev 
-
-if "%ERRORLEVEL%" NEQ "0" goto :build_fail 
-popd
-if "%BUILD%"=="x64" goto :eof
-
-
-:build_arm64
-pushd tools
-setlocal
-set ROS2_ARCH=arm64
-if "%clean%"=="true" (
-    if exist arm64_build rd /s /q arm64_build
-    if exist arm64 rd /s /q arm64
-)
-
-call colcon build --event-handlers console_cohesion+ --merge-install --build-base .\arm64_build --install-base .\arm64 --cmake-args -A %ROS2_ARCH%  -DCSHARP_PLATFORM=arm64 -DDOTNET_CORE_ARCH=arm64 -DCMAKE_SYSTEM_NAME=WindowsStore  -DCMAKE_SYSTEM_VERSION=10.0 --no-warn-unused-cli -DCMAKE_BUILD_TYPE=RelWithDebInfo -Wno-dev 
-
-if "%ERRORLEVEL%" NEQ "0" goto :build_fail 
-endlocal
-popd
-if "%BUILD%"=="arm64" goto :eof
-
-:build_arm
-pushd tools
-setlocal
-set ROS2_ARCH=arm
-if "%clean%"=="true" (
-    if exist arm_build rd /s /q arm_build
-    if exist arm rd /s /q arm
-)
-
-call colcon build --event-handlers console_cohesion+ --merge-install --build-base .\arm_build --install-base .\arm --cmake-args -A %ROS2_ARCH%  -DCSHARP_PLATFORM=arm -DDOTNET_CORE_ARCH=arm -DCMAKE_SYSTEM_NAME=WindowsStore  -DCMAKE_SYSTEM_VERSION=10.0 --no-warn-unused-cli -DCMAKE_BUILD_TYPE=RelWithDebInfo -Wno-dev 
-
-if "%ERRORLEVEL%" NEQ "0" goto :build_fail 
-endlocal
-popd
-if "%BUILD%"=="arm" goto :eof
-
-: build x86
-:build_x86
-pushd tools
-setlocal
-: x86 is called Win32 in cmakelandia
-set ROS2_ARCH=Win32
-
-if "%clean%"=="true" (
-    if exist x86_build rd /s /q x86_build
-    if exist x86 rd /s /q x86
-)
-
-call colcon build --event-handlers console_cohesion+ --merge-install --build-base .\x86_build --install-base .\x86 --cmake-args -A %ROS2_ARCH%  -DCSHARP_PLATFORM=x86 -DDOTNET_CORE_ARCH=x86 -DCMAKE_SYSTEM_NAME=WindowsStore  -DCMAKE_SYSTEM_VERSION=10.0 --no-warn-unused-cli -DCMAKE_BUILD_TYPE=RelWithDebInfo -Wno-dev 
-if "%ERRORLEVEL%" NEQ "0" goto :build_fail 
-endlocal
-popd
-if "%BUILD%"=="x86" goto :eof
-
-goto :eof
-
-:build_fail
-endlocal
-popd
-goto :eof
-
-:USAGE 
-    echo "build [/x86 | /arm64 | /unity | /arm]"
-    goto :eof
-
diff --git a/inittree.cmd b/inittree.cmd
index 9b0ee7d..712a499 100644
--- a/inittree.cmd
+++ b/inittree.cmd
@@ -1,8 +1,6 @@
 : @echo off
 setlocal enableextensions disabledelayedexpansion
 
-if NOT EXIST "c:\opt\vcpkg\vcpkg.exe" goto :novcpkg
-
 if "%VSINSTALLDIR%" == "" (
     if exist "C:\Program Files (x86)\Microsoft Visual Studio\2019\Community" (
         set "VSINSTALLDIR=C:\Program Files (x86)\Microsoft Visual Studio\2019\Community\"
@@ -17,32 +15,56 @@ call "%VSINSTALLDIR%\VC\Auxiliary\Build\vcvars64.bat"
 set VisualStudioVersion=16.0
 
 : Call to initialize the isolated ROS2 build system
-mkdir c:\opt\chocolatey
-set PYTHONHOME=C:\opt\python37amd64\
-set ChocolateyInstall=c:\opt\chocolatey
-set PATH=c:\opt\chocolatey\bin;C:\opt\python37amd64\;C:\opt\python37amd64\Scripts;C:\opt\python37amd64\DLLs;%PATH%
-choco source add -n=ros-win -s="https://aka.ms/ros/public" --priority=1
-choco upgrade ros-colcon-tools -y --execution-timeout=0 --pre
+mkdir c:\opt\mrtk_chocolatey
+set PYTHONHOME=C:\opt\mrtk_python
+set ChocolateyInstall=c:\opt\mrtk_chocolatey
+set PATH=c:\opt\mrtk_vcpkg;c:\opt\chocolatey\bin;C:\opt\mrtk_python;C:\opt\mrtk_python\Scripts;%PATH%
+set VCPKG_ROOT=c:\opt\mrtk_vcpkg
 
-: choco upgrade ros_vcpkg -y --execution-timeout=0 --pre
-: include staged vcpkgs
+choco install python3 --params "/InstallDir:C:\opt\mrtk_python" --version=3.8.5 -y
+: choco source add -n=ros-win -s="https://aka.ms/ros/public" --priority=1 -y
 
-set VCPKG_ROOT=c:\opt\vcpkg
 
 call pip install vcstool
 call pip install lark-parser
+call pip install colcon-common-extensions
+
+if exist "%VCPKG_ROOT%" goto :build_tools
+mkdir c:\opt\
+pushd c:\opt\
+git clone https://github.com/ooeygui/vcpkg c:\opt\mrtk_vcpkg
+cd c:\opt\mrtk_vcpkg
+call bootstrap-vcpkg.bat
+popd
+
+:build_tools
+vcpkg install openssl:arm64-uwp
+vcpkg install foonathan-memory:x64-windows
+vcpkg install foonathan-memory[core]:arm64-uwp
+vcpkg install foonathan-memory[core]:x64-uwp
+
+vcpkg install eigen3:x64-windows
+vcpkg install eigen3:arm64-uwp
+vcpkg install eigen3:x64-uwp
+
+vcpkg install openssl:x64-windows
+vcpkg install openssl:arm64-uwp
+vcpkg install openssl:x64-uwp
+
+vcpkg install asio:x64-windows
+vcpkg install asio:arm64-uwp
+vcpkg install asio:x64-uwp
 
-dir C:\opt\python37amd64\Scripts\
 
 mkdir tools\src
 mkdir target\src
 
 pushd tools
-C:\opt\python37amd64\Scripts\vcs.exe import src < ..\build_tools.repos
+%PYTHONHOME%\Scripts\vcs.exe import src < ..\build_tools.repos
 popd
 
 pushd target
-C:\opt\python37amd64\Scripts\vcs.exe import src < ..\ros2_uwp.repos
+%PYTHONHOME%\Scripts\vcs.exe import src < ..\ros2_uwp.repos
 xcopy /y src\ros2\orocos_kinematics_dynamics\orocos_kdl\config\FindEigen3.cmake src\ros2\eigen3_cmake_module\cmake\Modules
 popd
 
@@ -53,7 +75,5 @@ popd
 goto :eof
 
 :novcpkg
-echo "VCPkg not found at c:\opt\vcpkg\vcpkg.exe"
+echo "VCPkg not found at %VCPKG_ROOT%\vcpkg.exe"
 dir c:\opt
-
-exit /1
diff --git a/initvcpkg.cmd b/initvcpkg.cmd
deleted file mode 100644
index 3a0576e..0000000
--- a/initvcpkg.cmd
+++ /dev/null
@@ -1,78 +0,0 @@
-@echo off
-setlocal enableextensions disabledelayedexpansion
-
-:: Parse options
-:GETOPTS
- if /I "%~1" == "/?" goto USAGE
- if /I "%~1" == "/Help" goto USAGE
- if /I "%~1" == "/x86" set BUILD=x86
- if /I "%~1" == "/arm64" set BUILD=arm64
- if /I "%~1" == "/arm" set BUILD=arm
- if /I "%~1" == "/x64" set BUILD=x64
- if /I "%~1" == "/unity" set BUILD=unity
- shift
-if not (%1)==() goto GETOPTS
-
-set PATH_ORIG=%PATH%
-set PATH=c:\opt\vcpkg;c:\opt\chocolatey\bin;C:\opt\python37amd64\;C:\opt\python37amd64\Scripts;C:\opt\python37amd64\DLLs;%PATH%
-set VCPKG_ROOT=c:\opt\vcpkg
-
-if exist "%VCPKG_ROOT%" goto :build_tools
-mkdir c:\opt
-pushd c:\opt
-git clone https://github.com/ooeygui/vcpkg
-call bootstrap-vcpkg.bat
-popd
-
-:build_tools
-: Build tooling
-vcpkg install protobuf:x86-windows
-vcpkg install foonathan-memory:x64-windows
-
-if "%BUILD%"=="x86" goto :build_x86
-if "%BUILD%"=="x64" goto :build_x64
-if "%BUILD%"=="arm64" goto :build_arm64
-if "%BUILD%"=="arm" goto :build_arm
-if "%BUILD%"=="unity" goto :build_unity
-
-:build_x86
-vcpkg install protobuf:x86-uwp
-: vcpkg install asio:x86-uwp
-vcpkg install eigen3:x86-uwp
-vcpkg install foonathan-memory:x86-uwp
-vcpkg install poco:x86-uwp
-if "%BUILD%"=="x86" goto :eof
-
-:build_arm64
-vcpkg install protobuf:arm64-uwp
-: vcpkg install asio:arm64-uwp
-vcpkg install tinyxml2:arm64-uwp
-vcpkg install eigen3:arm64-uwp
-vcpkg install foonathan-memory[core]:arm64-uwp
-vcpkg install poco:arm64-uwp
-if "%BUILD%"=="arm64" goto :eof
-
-:build_arm
-vcpkg install protobuf:arm-uwp
-: vcpkg install asio:arm-uwp
-vcpkg install tinyxml2:arm-uwp
-vcpkg install eigen3:arm-uwp
-vcpkg install foonathan-memory[core]:arm-uwp
-vcpkg install poco:arm-uwp
-if "%BUILD%"=="arm" goto :eof
-
-:build_x64
-vcpkg install protobuf:x64-uwp
-: vcpkg install asio:x64-uwp
-vcpkg install eigen3:x64-uwp
-vcpkg install foonathan-memory[core]:x64-uwp
-vcpkg install poco:x64-uwp
-if "%BUILD%"=="x64" goto :eof
-
-:build_unity
-vcpkg install protobuf:x64-windows
-: vcpkg install asio:x64-windows
-vcpkg install eigen3:x64-windows
-vcpkg install foonathan-memory:x64-windows
-vcpkg install poco:x64-windows
-if "%BUILD%"=="unity" goto :eof
diff --git a/ros2_uwp.repos b/ros2_uwp.repos
index 9227957..5890a20 100644
--- a/ros2_uwp.repos
+++ b/ros2_uwp.repos
@@ -99,10 +99,6 @@ repositories:
     type: git
     url: https://github.com/ros2/rclcpp.git
     version: foxy
-  ros2/poco_vendor:
-    type: git
-    url: https://github.com/ms-iot/poco_vendor.git
-    version: master
   ros2/spdlog_vendor:
     type: git
     url: https://github.com/ros2/spdlog_vendor.git
diff --git a/upm/build_upm.ps1 b/upm/build_upm.ps1
index 55db744..bafd078 100644
--- a/upm/build_upm.ps1
+++ b/upm/build_upm.ps1
@@ -106,56 +106,32 @@ function populateArchAndPlat
     }
 }
 
+function generate_link
+{
+    $currentDir = Get-Location
+    $linkXml = Join-Path -Path $currentDir -ChildPath "com.microsoft.ros_mrtk_native\link.xml"
+
+    Get-ChildItem -Path $linkXml | Remove-Item
+    Add-Content $linkXml "<linker>"
+    $filespec = Join-Path -Path $currentDir -ChildPath "com.microsoft.ros_mrtk_native\Plugins\Windows-x64\*_assemblies.dll"
+    $files = Get-Item $filespec -Filter $extSpec
+    foreach ($file in $files)
+    {
+        $filename = [System.IO.Path]::GetFileNameWithoutExtension($file)
+
+        Add-Content $linkXml "  <assembly fullname=""$filename"" preserve=""all""/>"
+    }
+    Add-Content $linkXml "</linker>"
+}
+
 function populate
 {
     populateArchAndPlat -arch "x64" -platform "Windows" -sourceArch "Unity" -templateName 'x86_64_meta.txt'
     #populateArchAndPlat -arch "x64" -platform "uwp" -sourceArch "x64" -templateName 'wsa_x64_meta.txt'
     #populateArchAndPlat -arch "x86" -platform "uwp" -sourceArch "x86" -templateName 'wsa_x86_meta.txt'
     populateArchAndPlat -arch "arm64" -platform "uwp"  -sourceArch "arm64"  -templateName 'wsa_arm64_meta.txt'
-}
 
-function GenerateUnityMeta 
-{
-
-    param 
-    (
-        $templateName,
-        $folder
-    )
-
-    $template = Get-Content $templateName -Raw
-
-    $files = Get-ChildItem -Filter "*.dll" -Recurse $folder
-    
-    foreach ($file in $files)
-    {
-        $ext = [IO.Path]::GetExtension($file)
-        if ($ext -notmatch ".meta")
-        {
-            $guidRaw = New-Guid
-            $guid = $guidRaw.ToString().Replace("-", "")
-            $newMetafilename = $file.FullName + ".meta"
-    
-            Write-Host "Generating $newMetafilename"
-    
-            $newMetafile = $template.Replace("@@newGuid@@", $guid)
-            Set-Content $newMetafilename $newMetafile
-        }
-    }
 }
 
 populate
-
-<#
-GenerateUnityMeta -templateName 'wsa_arm64_meta.txt' -folder "..\target\arm64"
-GenerateUnityMeta -templateName 'wsa_x64_meta.txt' -folder "..\target\x64"
-GenerateUnityMeta -templateName 'x86_64_meta.txt' -folder "..\target\x86"
-
-GenerateUnityMeta -templateName 'wsa_arm64_meta.txt' -folder "C:\opt\vcpkg\installed\arm64-uwp\bin"
-GenerateUnityMeta -templateName 'wsa_x64_meta.txt' -folder "C:\opt\vcpkg\installed\x64-uwp\bin"
-GenerateUnityMeta -templateName 'x86_64_meta.txt' -folder "C:\opt\vcpkg\installed\x86-windows\bin"
-
-GenerateUnityMeta -templateName 'wsa_arm64_meta.txt' -folder "C:\opt\vcpkg\buildtrees\apriltag\arm64-uwp-rel\Release"
-GenerateUnityMeta -templateName 'wsa_x64_meta.txt' -folder "C:\opt\vcpkg\buildtrees\apriltag\x64-uwp-rel\Release"
-GenerateUnityMeta -templateName 'x86_64_meta.txt' -folder "C:\opt\vcpkg\buildtrees\apriltag\x86-windows-rel\Release"
-#>
\ No newline at end of file
+generate_link