SmartArmStack · mmmarinho · Sep 21, 2026 · Sep 21, 2026
diff --git a/.gitmodules b/.gitmodules
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,61 +1,64 @@
-cmake_minimum_required(VERSION 3.11)
+cmake_minimum_required(VERSION 3.16)
 project(sas_core)
 
-option(ROS2_BUILD "Enable ROS2/ament build (examples + ament integration)" ON)
-
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-    add_compile_options(-Wall -Wextra -Wpedantic)
-endif()
-
-# ---- Core libraries (always built) ----
-include(cmake/cpplib.cmake)
-
-if(ROS2_BUILD)
-    find_package(ament_cmake REQUIRED)
-    ament_python_install_package(${PROJECT_NAME})
-    set(_SAS_PYTHON_INSTALL_DIR "${PYTHON_INSTALL_DIR}/${PROJECT_NAME}")
-endif()
-
-include(cmake/pythonlib.cmake)
-
-# ---- ROS2 / ament integration (conditional) ----
-if(ROS2_BUILD)
-    # INTERFACE alias for downstream ROS packages
-    add_library(sas_core INTERFACE)
-    target_link_libraries(sas_core INTERFACE sas_core_pure)
-
-    ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
-    ament_export_dependencies(Eigen3)
-
-    install(DIRECTORY include/ DESTINATION include)
-
-    install(TARGETS sas_core sas_core_pure
-        EXPORT export_${PROJECT_NAME}
-        ARCHIVE DESTINATION lib
-        INCLUDES DESTINATION include
-    )
-
-    # Example executables
-    foreach(_name IN ITEMS sas_core_example sas_clock_example
-        sas_clock_sched_fifo_example)
-        add_executable(${_name} src/examples/${_name}.cpp)
-        target_link_libraries(${_name} sas_core_pure)
-        if(_name STREQUAL "sas_core_example")
-            target_link_libraries(${_name} -ldqrobotics)
-        endif()
-        install(TARGETS ${_name} DESTINATION lib/${PROJECT_NAME})
-    endforeach()
-
-    add_executable(sas_robot_driver_example
-        src/examples/sas_robot_driver_example_main.cpp)
-    target_link_libraries(sas_robot_driver_example sas_core_pure)
-    install(TARGETS sas_robot_driver_example DESTINATION lib/${PROJECT_NAME})
-
-    install(DIRECTORY
-        scripts/
-        FILE_PERMISSIONS OWNER_EXECUTE OWNER_WRITE OWNER_READ
-        DESTINATION lib/${PROJECT_NAME}
-    )
-
-    ament_package()
-endif()
+# =============================================================================
+# sas_core is a THIN WRAPPER around the SmartArmStack core:
+#
+#   - C++ library: libmarinholab_sas_core, provided by the
+#     libmarinholab-sas-core .deb (source: https://github.com/MarinhoLab/sas_cpp).
+#     The .deb installs headers under include/marinholab/sas/core/, the shared
+#     library, and the CMake package config (find_package(marinholab_sas_core)).
+#   - Python bindings: the PyPI package marinholab-sas-core
+#     (https://github.com/MarinhoLab/sas_py), imported as marinholab.sas.core.
+#
+# This package adds no implementation; it only:
+#   1. re-exports the ament target `sas_core` so downstream ROS packages keep
+#      working with `ament_target_dependencies(<pkg> sas_core ...)`;
+#   2. installs compatibility headers include/sas_core/*.hpp that forward to
+#      the .deb's include/marinholab/sas/core/*.hpp and re-alias `namespace sas`;
+#   3. installs the pure-Python `sas_core` shim (re-exporting
+#      marinholab.sas.core) so `from sas_core import Clock` keeps working.
+# =============================================================================
+
+find_package(marinholab_sas_core REQUIRED)
+find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_python REQUIRED)
+
+# Eigen3 is a PUBLIC dependency of the core (its headers include <Eigen/Dense>);
+# declare it so downstream ament packages can resolve it through this package.
+find_package(Eigen3 REQUIRED)
+
+# ---- ament target ---------------------------------------------------------
+# INTERFACE alias forwarding downstream packages to the core target installed
+# by the libmarinholab-sas-core .deb.
+add_library(sas_core INTERFACE)
+target_link_libraries(sas_core INTERFACE marinholab::sas::core Eigen3::Eigen)
+
+ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
+# Eigen3 and marinholab_sas_core are consumed transitively by downstream
+# packages that link the `sas_core` target; propagate them so their
+# find_package() calls run in the consumer.
+ament_export_dependencies(Eigen3 marinholab_sas_core)
+
+# ---- Compatibility headers ------------------------------------------------
+# include/sas_core/*.hpp are thin shims forwarding to the .deb's
+# include/marinholab/sas/core/*.hpp and re-aliasing `namespace sas`.
+install(DIRECTORY include/ DESTINATION include)
+
+install(TARGETS sas_core
+    EXPORT export_${PROJECT_NAME}
+)
+
+# ---- Python compatibility shim ---------------------------------------------
+# Pure-Python module re-exporting marinholab.sas.core (installed from PyPI by
+# the docker environment / user). See sas_core/__init__.py.
+ament_python_install_package(${PROJECT_NAME})
+
+# Example scripts (run against the PyPI-installed bindings).
+install(
+    DIRECTORY scripts/
+    FILE_PERMISSIONS OWNER_EXECUTE OWNER_WRITE OWNER_READ
+    DESTINATION lib/${PROJECT_NAME}
+)
+
+ament_package()
diff --git a/README.md b/README.md
@@ -1,59 +1,81 @@
-# sas_core
+# sas_core (thin wrapper)
 
 > [!TIP]
 > Repository for this module: https://github.com/SmartArmStack/sas_core. <br/>
 > More information about SmartArmStack is available in https://smartarmstack.github.io/.
 
-## Contents
-
-- `include/sas_core/` — public C++ headers.
-- `src/` — implementation of the shared library and pybind11 bindings.
-- `scripts/` — example Python scripts.
-- `src/examples/` — C++ example programs and test nodes.
+`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:
 
-## Using as a non-ROS2 dependency (CMake FetchContent)
+| Piece | Provided by | Installed as |
+|---|---|---|
+| C++ library (`libmarinholab_sas_core`) + headers + CMake config | [MarinhoLab/sas_cpp](https://github.com/MarinhoLab/sas_cpp) | `libmarinholab-sas-core` `.deb` (target namespace `marinholab::sas::core`) |
+| Python bindings | [MarinhoLab/sas_py](https://github.com/MarinhoLab/sas_py) | `marinholab-sas-core` on PyPI (import `marinholab.sas.core`) |
 
-To include `sas_core_pure` in a plain CMake project (no ROS2/ament required):
+On Ubuntu the `.deb` links the dynamic `libdqrobotics` from the
+[dqrobotics PPA](https://launchpad.net/~dqrobotics-dev/+archive/ubuntu/development);
+in the provided docker environment both are already installed.
 
-```cmake
-include(FetchContent)
-FetchContent_Declare(
-    sas_core
-    GIT_REPOSITORY https://github.com/SmartArmStack/sas_core.git
-    GIT_TAG        jazzy
-)
+## What this package provides
 
-set(ROS2_BUILD OFF CACHE BOOL "" FORCE)
-FetchContent_MakeAvailable(sas_core)
-
-target_link_libraries(your_target PRIVATE sas_core_pure)
-```
+- **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.
 
-The library depends on **Eigen3** and **dqrobotics**; make sure both are
-available on your system.
+## Contents
 
-## Examples
+- `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.
 
-Testing on a docker container.
+## Installation
 
 ```bash
-docker run --rm murilomarinho/sas:jazzy bash -c "ros2 run sas_core sas_clock_example"
+# 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
 ```
 
-```bash
-ros2 run sas_core sas_core_example
-ros2 run sas_core sas_clock_example
-ros2 run sas_core sas_clock_sched_fifo_example
-ros2 run sas_core sas_robot_driver_example
-```
+## Examples
+
+The C++ example programs live with the C++ core
+([MarinhoLab/sas_cpp](https://github.com/MarinhoLab/sas_cpp), built with
+`-DMARINHO_LAB_SAS_CORE_BUILD_EXAMPLES=ON`). The Python examples in
+`scripts/` run against the PyPI-installed bindings:
 
 ```bash
 ros2 run sas_core sas_clock_example_py.py
-ros2 run sas_core sas_robot_driver_subclass_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
 ```
 
-The `scripts/sas_robot_driver_subclass_example_py.py` file demonstrates how to
-subclass `sas_core.RobotDriver` in Python and contains a minimal working
-example.
+`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):
+
+```bash
+cd docker
+docker compose build
+docker compose up
+```
diff --git a/cmake/cpplib.cmake b/cmake/cpplib.cmake
diff --git a/cmake/pythonlib.cmake b/cmake/pythonlib.cmake
diff --git a/docker/Dockerfile b/docker/Dockerfile
@@ -4,7 +4,31 @@ SHELL ["/bin/bash", "-c"]
 ENV BASH_ENV="/etc/bash_env"
 
 RUN sudo apt-get update && sudo apt-get upgrade -y
-RUN python3 -m pip install --upgrade dqrobotics --break-system-packages
-RUN sudo sudo apt-get remove -y ros-jazzy-sas-core
+
+# Remove the legacy monolithic sas_core package shipped by the base image;
+# it would otherwise shadow this thin wrapper.
+RUN sudo apt-get remove -y ros-jazzy-sas-core
+
+# Python bindings from PyPI (self-contained wheel, core statically linked).
+# dqrobotics (python) is already present in the base image.
+RUN python3 -m pip install --upgrade marinholab-sas-core --break-system-packages
+
+# C++ core .deb -- TEMPORARY: built from source because the
+# libmarinholab-sas-core .deb is not yet published to an apt repository.
+# libdqrobotics (C++) is already present in the base image, so no PPA is
+# needed here. The build is architecture-agnostic (amd64 or arm64).
+#
+# Once the .deb is published to an apt repository, replace this block with:
+#   RUN sudo apt-get update \
+#       && sudo apt-get install -y libmarinholab-sas-core
+RUN sudo apt-get update \
+    && sudo apt-get install -y debhelper dpkg-dev \
+    && git clone --depth 1 --branch 26.09 https://github.com/MarinhoLab/sas_cpp.git /tmp/sas_cpp \
+    && cd /tmp/sas_cpp \
+    && dpkg-buildpackage -us -uc -b \
+    && cd /tmp \
+    && sudo dpkg -i ./libmarinholab-sas-core_*.deb \
+    && sudo rm -rf /tmp/sas_cpp /tmp/libmarinholab-sas-core_*.deb
+
 RUN mkdir -p /root/sas_core_devel/src/
-COPY . /root/sas_core_devel/src/sas_core
+COPY . /root/sas_core_devel/src/sas_core
diff --git a/docker/compose.yml b/docker/compose.yml
@@ -5,15 +5,4 @@ services:
       dockerfile: docker/Dockerfile
     environment:
       PYTHONUNBUFFERED: 1
-    command: /bin/bash -c "
-      cd /root/sas_core_devel/src/
-      && ls .
-      && colcon build
-      && source install/setup.bash
-      && ros2 run sas_core sas_clock_example
-      && ros2 run sas_core sas_clock_example_py.py
-      && ros2 run sas_core sas_robot_driver_example
-      && ros2 run sas_core sas_robot_driver_subclass_example_py.py
-      && ros2 run sas_core sas_clock_sched_fifo_example
-      && ros2 run sas_core sas_clock_sched_fifo_example_py.py
-      "
+    command: /bin/bash -c "bash /root/sas_core_devel/src/sas_core/docker/smoke_test.sh"