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.

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.