Package Summary

Research only packages cannot be used for commercial use.

Package	License	Description
sas_core	LGPL	The part of the library that does not depend on ROS2.
sas_common	LGPL	Generic ROS2 code used throughout the packages.
sas_msgs	LGPL	A wrapper for ROS messages that were made redundant in ROS2.
sas_conversions	LGPL	Convert ROS2 messages into float, int, or dqrobotics elements.
sas_robot_driver	LGPL	ROS2 nodes and libraries for creating servers and clients for robot configuration-space monitoring and control.
sas_robot_driver_denso	LGPL	A sas_robot_driver implementation for DensoWave's bCap controlled robots
sas_robot_kinematics	LGPL	ROS2 nodes and libraries for creating servers and clients for kinematic-level robot task-space monitoring and control.
sas_operator_side_receiver	Research Only	Receive messages from a master device and expose them in ROS2.
sas_patient_side_manager	Research Only	Connects n OperatorSideMasterReceiverManipulatorManager with m sas_robot_kinematics, for teleoperation.
sas_robot_kinematics_constrained_multiarm	Research Only	Kinematically control m robots in a centralized manner, with configurable VFIs

Prerequisites

1. ROS 2 Humble
2. DQ Robotics CPP (Development branch)

sudo add-apt-repository ppa:dqrobotics-dev/development
sudo apt-get update
sudo apt-get install libdqrobotics*

3. DQ Robotics Python (pre-release)

python3 -m pip install dqrobotics --pre

Set up the installer

Do the following ONLY ONCE

sudo apt install curl jq -y
echo "alias sas-ros2-update='wget https://raw.githubusercontent.com/SmartArmStack/smart_arm_stack_ROS2/main/install.sh && sh install.sh'" >> ~/.bashrc
source ~/.bashrc

Install and update

sas-ros2-update

Draft doxygen docs

https://smartarmstack.github.io/docs_ros2

Devel

For regular users, the recommendation is to install the .deb packages, not build from source.

Do once

On the ROS2 workspace, e.g. ~/ros2_ws/src

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone git@github.com:SmartArmStack/smart_arm_stack_ROS2.git sas --recursive

Every build

cd ~/ros2_ws/src
colcon build --symlink-install
source install/setup.bash

Aliases

Optionally, also install

sudo apt install python3-colcon-clean

Then add the following aliases to .bashrc

alias cdros2="cd ~/ros2_ws/src"
alias cleanros2="cdros2 && colcon clean workspace"
alias buildros2="cdros2 && colcon build --symlink-install && source install/setup.bash"

So that the following become bash commands become available

• cdros2: go to the source of your ros2 workspace.
• cleanros2: clean the workspace, e.g. remove the install, build, and log folders.
• buildros2: do a standard build of the workspace and source the setup.bash.

Opening a package on QTCreator

1. First, open a terminal and run

buildros2

2. In that same terminal, open QTCreator, e.g. by running

qtcreator

3. Open a new project and find the CMakeLists.txt of each package, e.g. sas_core/CMakeLists.txt.

• File > Open File or Project... > Choose sas/sas_core/CMakeLists.txt

The default suggested configuration will work, but might generate issues with colcon because of where the build folder is made. It is better to import the build from build/PACKAGE_NAME so that QTCreator uses the same build space.

• Deselect Desktop by unchecking the checkbox.
• Import build from... > Details > Browse... > ~/ros2ws/src/build/sas_core > Open > Import

At this stage, the import is succesfull if the option Build shows up already checked.

• Lastly, click Configure Project.

4. If the initial configuration is messed up, just delete the CMakeLists.txt.user inside each wrongly configured package. Note the trailing .user.