sas_core (thin wrapper)

Tip

Repository for this module: https://github.com/SmartArmStack/sas_core.
More information about SmartArmStack is available in https://smartarmstack.github.io/.

sas_core is a thin ROS 2 wrapper around the SmartArmStack core. It contains no C++ implementation and no Python extension module of its own; it forwards to the two packages that provide the core:

Piece	Provided by	Installed as
C++ library (libmarinholab_sas_core) + headers + CMake config	MarinhoLab/sas_cpp	libmarinholab-sas-core .deb (target namespace marinholab::sas::core)
Python bindings	MarinhoLab/sas_py	marinholab-sas-core on PyPI (import marinholab.sas.core)

On Ubuntu the .deb links the dynamic libdqrobotics from the dqrobotics PPA; in the provided docker environment both are already installed.

What this package provides

• C++: the ament target sas_core (ament_target_dependencies(<pkg> sas_core ...)) forwarding to marinholab::sas::core, plus compatibility headers include/sas_core/*.hpp that keep the legacy include paths (#include <sas_core/sas_clock.hpp>) and the legacy namespace sas working via #include <marinholab/sas/core/...> + a namespace alias.
• Python: a pure-Python sas_core shim that re-exports Clock, Statistics, RobotDriver, ShutdownSignaler from marinholab.sas.core, so from sas_core import Clock keeps working.

Contents

• include/sas_core/ — compatibility C++ headers (one-line forwards).
• sas_core/__init__.py — Python compatibility shim.
• scripts/ — example Python scripts + sas_core_smoke_test.py.
• docker/ — build environment and integration smoke test.

Installation

# C++ core (until the .deb is published to an apt repository, build it from source):
sudo add-apt-repository ppa:dqrobotics-dev/development
sudo apt-get update
sudo apt-get install -y libdqrobotics
#   then build sas_cpp with dpkg-buildpackage and dpkg -i the result,
#   or simply: sudo apt-get install libmarinholab-sas-core  (once published)

# Python bindings:
python3 -m pip install marinholab-sas-core

# This wrapper (inside a ROS 2 workspace):
colcon build

Examples

The C++ example programs live with the C++ core (MarinhoLab/sas_cpp, built with -DMARINHO_LAB_SAS_CORE_BUILD_EXAMPLES=ON). The Python examples in scripts/ run against the PyPI-installed bindings:

ros2 run sas_core sas_clock_example_py.py
ros2 run sas_core sas_clock_sched_fifo_example_py.py
ros2 run sas_core sas_robot_driver_subclass_example_py.py

sas_robot_driver_subclass_example_py.py demonstrates subclassing sas_core.RobotDriver in Python.

Testing

The docker environment builds the wrapper with colcon and runs a smoke test covering both consumption paths (Python shim + C++ compatibility headers against the installed library):

cd docker
docker compose build
docker compose up