sas_common

Tip

Repository for this module: https://github.com/SmartArmStack/sas_common.
More information about SmartArmStack is available in https://smartarmstack.github.io/.

ROS 2 Nodes

Example implementations are located in the src/examples/ directory. The package also includes a Python wrapper test script in the scripts/ directory.

docker run --rm murilomarinho/sas:jazzy bash -c "ros2 run sas_common sas_object_test_node"

sas_common_ros2_parameter_test_node

This example and test node demonstrates the behaviour of sas::get_ros_parameter. It is intended to validate ROS 2 parameter parsing, including the package-specific handling of empty lists encoded as ["EMPTY_LIST"].

Note

Use sas_common_ros2_parameter_test_launch.py to evaluate this node.

sas_object_test_node

This test node validates the sas::ObjectClient and sas::ObjectServer interfaces. It can be used to check that object client-server communication is working as expected within the sas_common package.

ros2 run sas_common sas_object_test_node

sas_simulator_test_node

This test node validates the sas::SimulatorClient and sas::SimulatorServer interfaces. It is useful for confirming that simulator client-server communication is configured and operating correctly.

ros2 run sas_common sas_simulator_test_node

test_python_wrapper.py

This Python script tests the pybind11 Python bindings provided by the package. It is located in the scripts/ directory and can be executed through ROS 2 as a package script.

ros2 run sas_common test_python_wrapper.py

Launch Files

The launch file(s) are located in the launch/ directory.

docker run --rm murilomarinho/sas:jazzy bash -c "ros2 launch sas_common sas_common_ros2_parameter_test_launch.py"

sas_common_ros2_parameter_test_launch.py

This launch file starts sas_common_ros2_parameter_test_node with a predefined set of parameters. It is designed to test ROS 2 parameter parsing, including the handling of empty lists encoded as ["EMPTY_LIST"].

ros2 launch sas_common sas_common_ros2_parameter_test_launch.py