Build libmarinholab-sas-core .deb (sas_cpp) into the PPA alongside the ROS .debs

[mmmarinho]

What this does

Adds the libmarinholab-sas-core .deb (non-ROS C++ core from MarinhoLab/sas_cpp) to the PPA build, alongside the ROS package .debs.

This is the prerequisite of the sas_core thin wrapper (SmartArmStack/sas_core#12): its CMakeLists does find_package(marinholab_sas_core REQUIRED), and every downstream package that links the core needs the .deb present before colcon build and before the ROS .deb builds.

Changes

1. build_ros2.sh — one new section (after the clone loop, before the colcon check):

git clone --branch "main" \
    https://github.com/MarinhoLab/sas_cpp.git
cd sas_cpp
bash tools/bump-changelog.sh
dpkg-buildpackage -us -uc -b
cd ..
dpkg -i ./libmarinholab-sas-core_*.deb

• sas_cpp is not a colcon package (no package.xml), so it cannot go through the existing PRE_BUILD/bloom loop — it uses its own debian/ packaging (clean dh/cmake rules, dpkg-buildflags-based).
• Ref defaults to main, overridable via SAS_CPP_REF.
• Rolling version: the clone is full (no --depth) so sas_cpp's own tools/version.sh can count commits since the monthly version tag, and tools/bump-changelog.sh (idempotent dch) stamps debian/changelog with the rolling YY.MM.NN version before dpkg-buildpackage — so the .deb version tracks the branch content (same scheme as the SAS_VERSION timestamp of the ROS .debs).
• The .deb (and its dbgsym .ddeb) are written into tmp_ros2/, so the existing PPA pipeline (extract_debian_from_container.sh globbing /root/tmp_ros2/*.deb / *.ddeb → GH release → dpkg-scanpackages --multiversion → Pages PPA) ships it automatically, no workflow changes.

2. prebuild_ros2.sh — one extra package in the builder image: devscripts (provides dch, required by tools/bump-changelog.sh). Without it the build aborts at dpkg-checkbuilddeps/dch: command not found.

Verification

Ran the new section verbatim inside ghcr.io/marinholab/gazebo:jazzy (arm64, the same base the builder image uses), with prebuild_ros2.sh + devscripts first:

1. tools/bump-changelog.sh → idempotent, changelog stamped with tools/version.sh output
2. dpkg-buildpackage -us -uc -b → libmarinholab-sas-core_<version>_arm64.deb + dbgsym .ddeb
3. dpkg -i → installs cleanly; dpkg -L shows lib + CMake package config
4. CMake consumer probe (real project): find_package(marinholab_sas_core) → link marinholab::sas::core + Eigen3::Eigen → runs a Clock loop (probe ok 0.013s, exit 0)
5. Legacy include probe: #include <sas_core/sas_clock.hpp> + namespace sas alias against the installed lib → compiles and runs (exit 0)

Known limitation / follow-ups

• Tag naming: tools/version.sh counts commits since tag v${YY.MM} (e.g. v26.09), but sas_cpp's current tag is 26.09 (no v). Until the tag is renamed (or version.sh adjusted), the rolling component is 00 and the version stays 26.09.00. The mechanism itself works: once the monthly v* tag exists, new commits → 26.09.NN.
• Once the .deb is on the PPA: add a rosdep key + <depend> libmarinholab-sas-core</depend> to the wrapper's package.xml so ros-jazzy-sas-core declares a proper Depends; then replace the in-image build block in the sas_core PR's docker/Dockerfile with apt-get install -y libmarinholab-sas-core.

To publish: run the sas deb builder workflow (workflow_dispatch) as usual.

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

[mmmarinho]

👍