Convert sas_core to a thin wrapper around sas_cpp (.deb) + sas_py (PyPI)

[mmmarinho]

What this does

Converts sas_core from a self-contained package (C++ sources + pybind11 bindings inlined) into a thin wrapper around the two packages that now own the core:

Piece	Provided by	Installed as
C++ core	MarinhoLab/sas_cpp	libmarinholab-sas-core .deb (target marinholab::sas::core)
Python bindings	MarinhoLab/sas_py	marinholab-sas-core on PyPI (marinholab.sas.core)

Changes

Removed: src/*.cpp (core + examples), src/*_py.cpp (pybind11 bindings), the pybind11 submodule, cmake/cpplib.cmake + cmake/pythonlib.cmake, .gitmodules.

C++ compatibility shims — include/sas_core/*.hpp are now one-line forwards:

#pragma once
#include <marinholab/sas/core/sas_clock.hpp>   // header from the .deb

namespace sas
{
    using namespace marinholab::sas::core;    // legacy namespace
}

So downstream code keeps working unchanged: #include <sas_core/sas_object.hpp>, namespace sas, and ament_target_dependencies(<pkg> sas_core ...) (the ament target sas_core is an INTERFACE forwarding to marinholab::sas::core + Eigen3::Eigen, with both exported via ament_export_dependencies).

Python compatibility shim — sas_core/__init__.py re-exports Clock, Statistics, RobotDriver, ShutdownSignaler from marinholab.sas.core, so from sas_core import Clock (used e.g. by sas_datalogger) keeps working.

docker environment (per the agreed plan):

• pip install marinholab-sas-core (PyPI bindings)
• temporary, until the .deb is published to an apt repo: clones MarinhoLab/sas_cpp at tag 26.09 and runs dpkg-buildpackage + dpkg -i inside the image (architecture-agnostic; dqrobotics C++/Python is already in the base image, so no PPA step) — a marked comment shows the one-line replacement for the end state
• keeps apt-get remove ros-jazzy-sas-core so the legacy package in the base image doesn't shadow the wrapper

Verification — docker/compose.yml now runs docker/smoke_test.sh:

1. colcon build of the wrapper
2. scripts/sas_core_smoke_test.py: Python shim identity + a running Clock, and a CMake consumer probe (real project: find_package(marinholab_sas_core) → link → run)
3. compiles + runs a consumer using the legacy #include <sas_core/sas_clock.hpp> + namespace sas against the installed library

Verified end-to-end

Ran docker compose build && docker compose up in the docker environment (arm64 base image murilomarinho/sas:jazzy) — all three checks pass, container exits 0. The repo's existing CI (.github/workflows/build.yml already runs docker compose build + docker compose up) re-verifies this on amd64.

Follow-ups (out of scope here)

• Once the .deb is published to an apt repository (the separate .deb task), replace the in-image build block in docker/Dockerfile with apt-get install -y libmarinholab-sas-core (marked in a comment).
• The C++ example programs now live with MarinhoLab/sas_cpp (-DMARINHO_LAB_SAS_CORE_BUILD_EXAMPLES=ON); Python examples remain in scripts/.

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This pull request was created by an AI agent (OpenHands) on behalf of the repository owner.

[mmmarinho]

CI note (external blocker): the Build job fails at docker compose build → pip install --upgrade marinholab-sas-core with No matching distribution found — but not because of this branch. The PyPI release 26.9.4 of marinholab-sas-core is missing wheels (no cp312 x86_64, no cp310/311 aarch64) due to an artifact-name collision in MarinhoLab/sas_py's publish.yml (wheel-${{ runner.os }}-py… collides between the two Linux runners, so one artifact overwrites the other).

The fix + required republish (new version) are documented at MarinhoLab/sas_py#4. Once the complete wheel set is on PyPI, re-run the Build check here — the branch itself was verified end-to-end in the docker environment (colcon build + Python shim + CMake consumer probe + legacy C++ include/namespace test, all green).