sas_robot_driver Directory Reference

Directories
	launch
	sas_robot_driver
	scripts
	src

Detailed Description

sas_robot_driver

Remarks

Repository for this module: https://github.com/SmartArmStack/sas_robot_driver.
More information: https://smartarmstack.github.io/.

Quick check

docker run --rm murilomarinho/sas:jazzy /bin/bash -c "ros2 launch sas_robot_driver sas_robot_driver_ros_composer_example.py"

Contents

• include/ — public C++ headers.
• src/ — library and node implementations.
• scripts/ — Python example scripts.
• launch/ — example launch files.

Client–Server pair

The package implements a RobotDriverServer / RobotDriverClient pair. Both classes take a shared rclcpp::Node and a topic_prefix string that forms the namespace for all topics. When topic_prefix is "GET_FROM_NODE" (the default) the node name is used automatically.

Header files

Class	Header
sas::RobotDriverServer	sas_robot_driver/sas_robot_driver_server.hpp
sas::RobotDriverClient	sas_robot_driver/sas_robot_driver_client.hpp

Importing in Python

from sas_robot_driver import (
    RobotDriverServer,
    RobotDriverClient,
    Functionality
)

Nodes

• sas_robot_driver_ros_composer_node — Composes multiple RobotDriver clients.
• sas_robot_watchdog_commander_node — Sends periodic watchdog triggers to clients.
• sas_robot_driver_ros_example — Minimal example robot driver node.

Launch file

An example to compose multiple RobotDriver clients serially.

ros2 launch sas_robot_driver sas_robot_driver_ros_composer_example.py

Script

Demonstrates RobotDriverServer and RobotDriverClient in Python.

ros2 run sas_robot_driver sas_robot_driver_interface_example.py

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