Add tool GPIO support to RobotDriverServer/Client and RobotDriverROS - #21
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October 2, 2026 08:16
…th sas server/client architecture Added functionality to modify tool_gpio_ from a RobotDriverROS using sas server/client architecture. A function is called inside the control_loop only if enabled in the `RobotDriverROSConfiguration` structure. This functionality can be used from the sas_robot_driver_client. Key changes: - `sas_robot_driver_ros.*`: Modified `RobotDriverROSConfiguration` with boolean flag and modified `control_loop` - `sas_robot_driver_server.*`: Added subscribers and default callbacks for topic "/set/tool_gpio" - `sas_robot_driver_client.*`: Added publisher for topic "/set/tool_gpio"
… add Python bindings and docs
erwinkendo
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October 2, 2026 11:36
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This PR adds a client/server path for commanding the tool GPIO introduced in MarinhoLab/sas_cpp#13.
Changes
RobotDriverClient<topic_prefix>/set/tool_gpio(std_msgs/msg/ByteMultiArray).send_tool_gpio(const std::array<bool, 2>&).RobotDriverServer<topic_prefix>/set/tool_gpio. Like the other/set/topics, it requires a single publisher.get_tool_gpio() const.RobotDriverROSRobotDriverROSConfiguration::robot_tool_gpio_enable(defaultfalse).control_loop()forwards the server's latest value toRobotDriver::set_tool_gpio().RobotDriverClient.send_tool_gpio,RobotDriverServer.get_tool_gpio, andRobotDriverROSConfiguration.robot_tool_gpio_enable.AGENTS.md.New topic
<topic_prefix>/set/tool_gpiostd_msgs/msg/ByteMultiArraydata[i]is 0 or 1, exactly 2 elements)Backwards compatibility
robot_tool_gpio_enabledefaults tofalse, so existing nodes, including the composer and example nodes, behave as before.Dependencies
libmarinholab-sas-corerelease that includes it. Thesas_corecompatibility shim exposes the new methods throughnamespace sas, so nosas_corechange is needed.Testing
All tests were run with https://github.com/erwinkendo/sas_robot_driver_tester (see SmartArmStack/sas_robot_driver_ur# for details). The CI flow in
docker/compose.ymlstill builds and runs the Python interface example.