sas_core

Tip

Repository for this module: https://github.com/SmartArmStack/sas_core.
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.

Using as a non-ROS2 dependency (CMake FetchContent)

To include sas_core_pure in a plain CMake project (no ROS2/ament required):

include(FetchContent)
FetchContent_Declare(
    sas_core
    GIT_REPOSITORY https://github.com/SmartArmStack/sas_core.git
    GIT_TAG        jazzy
)

set(ROS2_BUILD OFF CACHE BOOL "" FORCE)
FetchContent_MakeAvailable(sas_core)

target_link_libraries(your_target PRIVATE sas_core_pure)

The library depends on Eigen3 and dqrobotics; make sure both are available on your system.

Examples

Testing on a docker container.

docker run --rm murilomarinho/sas:jazzy bash -c "ros2 run sas_core sas_clock_example"

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

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

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.