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+# SmartArmStack (sas_devel) — Repository Guide
+
+## Overview
+
+SmartArmStack (`sas`) is a modular ROS 2 robotics software framework for rapid prototyping, testing, and deployment of robot control algorithms. It uses a client–server architecture to separate application logic from ROS 2 communication.
+
+- **Website**: https://smartarmstack.github.io
+- **API Docs**: https://marinholab.github.io/sas_devel/index.html
+- **Issues**: https://github.com/MarinhoLab/sas_devel/issues
+- **ROS 2 distro**: jazzy
+
+## Repository Structure
+
+```
+sas_devel/
+├── .gitmodules          # 15 submodules under src/
+├── docker/              # Docker Compose + Dockerfile for containerised builds
+├── .github/workflows/   # CI: build + docs deployment
+├── src/examples/        # C++ example programs
+├── scripts/             # Python example scripts
+├── src/                 # All ROS 2 packages as submodules
+│   ├── sas_core/                # Core C++ library (no ROS 2 dependency option)
+│   ├── sas_common/              # Shared ROS 2 utilities
+│   ├── sas_msgs/                # Custom ROS 2 message definitions
+│   ├── sas_conversions/         # ROS 2 ↔ Eigen3/DQRobotics type conversions
+│   ├── sas_datalogger/          # Data logging and recording
+│   ├── sas_robot_driver/        # Config-space robot control client–server
+│   ├── sas_robot_kinematics/    # Task-space (kinematic) control
+│   ├── sas_force_sensor/        # Force/torque sensor client–server
+│   ├── sas_force_sensor_bota/   # Bota Systems force sensor integration
+│   ├── sas_robot_driver_ur/         # Universal Robots driver
+│   ├── sas_robot_driver_kuka/       # KUKA driver
+│   ├── sas_robot_driver_coppeliasim/ # CoppeliaSim simulation driver
+│   ├── sas_robot_driver_gazebo/      # Gazebo simulation driver
+│   ├── sas_kuka_control_template/    # KUKA control template (clone & modify)
+│   └── sas_ur_control_template/      # UR control template (clone & modify)
+```
+
+### Submodule Owners
+
+- `SmartArmStack/` org: sas_core, sas_common, sas_msgs, sas_conversions, sas_datalogger, sas_robot_driver, sas_robot_kinematics (branch: jazzy)
+- `MarinhoLab/` org: sas_robot_driver_*, sas_force_sensor*, sas_*_control_template (branch: jazzy or main)
+
+### Nested Submodules
+
+Several packages embed their own submodules:
+- `pybind11` — embedded in sas_common, sas_core, sas_datalogger, sas_force_sensor, sas_robot_driver, sas_robot_kinematics
+- `Universal_Robots_Client_Library` — embedded in sas_robot_driver_ur
+
+## Prerequisites
+
+- **ROS 2 jazzy** ( Ubuntu 24.04)
+- **Docker** — for containerised builds (recommended)
+- **System packages**: `libeigen3-dev`, `libdqrobotics-dev`
+- **CMake ≥ 3.11** (sas_core requires 3.11 for pybind11 embedding)
+- **Python 3** with development headers (for pybind11 modules)
+- **Git** with submodule support
+
+## Getting Started
+
+### Clone with Submodules
+
+```bash
+git clone --recursive https://github.com/MarinhoLab/sas_devel.git
+cd sas_devel
+```
+
+### Update Submodules
+
+```bash
+# Initialise and update all submodules to their tracked commits
+git submodule update --init --recursive
+
+# Pull latest from remote tracking branches
+git submodule update --remote --recursive
+```
+
+## Build
+
+### Docker Compose (Recommended)
+
+```bash
+cd docker
+docker compose up
+```
+
+This builds the workspace inside the `ghcr.io/marinholab/gazebo:jazzy` image.
+
+### Docker Build Only
+
+```bash
+cd docker
+sudo docker build -t sas_devel .
+```
+
+### Local colcon Build
+
+```bash
+# Ensure all submodules are initialised
+git submodule update --init --recursive
+
+colcon build
+source install/setup.bash
+```
+
+### Build Individual Packages
+
+```bash
+colcon build --packages-select sas_core sas_common sas_msgs
+```
+
+### Build Order (Dependency Chain)
+
+The recommended build order (topological):
+
+1. `sas_core` — no ROS 2 dependency (pure C++ option available)
+2. `sas_msgs` — message definitions
+3. `sas_conversions` — depends on sas_core, sas_msgs
+4. `sas_common` — depends on sas_conversions
+5. `sas_robot_driver` — depends on sas_common, sas_core, sas_conversions
+6. `sas_datalogger` — depends on sas_common, sas_core, sas_msgs
+7. `sas_force_sensor` — depends on sas_common, sas_core, sas_conversions
+8. `sas_robot_kinematics` — depends on sas_common, sas_core, sas_msgs, sas_conversions
+9. `sas_robot_driver_ur` — depends on sas_common, sas_core, sas_robot_driver, sas_force_sensor
+10. `sas_robot_driver_kuka` — depends on sas_common, sas_core, sas_robot_driver
+11. `sas_robot_driver_gazebo` — depends on sas_common, sas_core, sas_robot_driver
+12. `sas_robot_driver_coppeliasim` — depends on sas_common, sas_core, sas_robot_driver
+13. `sas_force_sensor_bota` — depends on sas_core (ament_python)
+14. `sas_kuka_control_template` — depends on sas_robot_driver_kuka
+15. `sas_ur_control_template` — depends on sas_robot_driver, sas_robot_driver_ur
+
+## Testing
+
+### Lint Tests (ament_lint_auto)
+
+Packages with lint auto-testing:
+- `sas_conversions`
+- `sas_datalogger`
+- `sas_robot_driver_coppeliasim`
+- `sas_ur_control_template`
+
+Run with:
+```bash
+colcon test --packages-select <package_name>
+colcon test-result --all
+```
+
+### CI Pipeline
+
+The CI pipeline is hosted externally:
+- Workflow: `.github/workflows/sas-build-and-test.yml`
+- Reuses: `SmartArmStack/smart_arm_stack_ROS2/.github/workflows/sas-isolated-package-build.yml@jazzy`
+- Triggers on: push, pull_request, workflow_dispatch
+- Builds each submodule package in isolation
+
+### Documentation Deployment
+
+- GitHub Pages workflow: `.github/workflows/pages.yml`
+- Generates Doxygen HTML docs and deploys to https://marinholab.github.io/sas_devel/
+
+## Python Bindings
+
+Packages with pybind11 Python modules (underscore-prefixed internal module):
+- `_sas_core`, `_sas_common`, `_sas_datalogger`, `_sas_force_sensor`,
+  `_sas_robot_driver`, `_sas_robot_kinematics`
+
+Each exposes a Python `__init__.py` that re-exports from the internal pybind11 module. The `IS_SAS_PYTHON_BUILD` compile definition guards Python-only code paths.
+
+## CMake Patterns
+
+All submodules follow consistent CMake patterns documented in `cheatsheet.md`:
+- Shared library with ament export targets
+- pybind11 embedded modules via `add_subdirectory(pybind11)`
+- Scoped binary pattern (set/unset) for multiple executables
+- Conditional ROS 2 build (`option(ROS2_BUILD)`) in sas_core
+- Static library (`sas_core_pure`) for non-ROS 2 usage
+
+See `cheatsheet.md` for detailed CMake patterns.
+
+## DevContainer
+
+A VS Code devcontainer is configured at `.devcontainer/devcontainer.json`, using the Docker Compose setup. It integrates with IntelliJ IDEA backend.
+
+## Important Notes
+
+- **sas_core** can be built standalone (non-ROS 2) by setting `ROS2_BUILD=OFF`. Useful for CMake FetchContent in external projects.
+- **sas_robot_driver_coppeliasim** only works on amd64 (CoppeliaSim limitation).
+- **Template packages** (sas_kuka_control_template, sas_ur_control_template) are meant to be cloned and modified, not used directly.
+- **sas_robot_driver_kuka** and **sas_robot_driver_ur** should not be cloned directly — use their respective control template packages.
+- The `dqrobotics` library is an external dependency required by most packages.
+- All packages use `ament_cmake` build type except `sas_force_sensor_bota` which uses `ament_python`.
\ No newline at end of file
diff --git a/src/sas_common b/src/sas_common
index 9e62441..ec90079 160000
--- a/src/sas_common
+++ b/src/sas_common
@@ -1 +1 @@
-Subproject commit 9e624415b1e2a089cf29f383a39939a1aba2e06a
+Subproject commit ec9007907f8d7d4c27ccc34220cb069dd0f4e74b
diff --git a/src/sas_conversions b/src/sas_conversions
index a92ac92..8a4a201 160000
--- a/src/sas_conversions
+++ b/src/sas_conversions
@@ -1 +1 @@
-Subproject commit a92ac924bc43ebcdbf97bef383bf2fb4c306609b
+Subproject commit 8a4a2018846ef102a3be16b01668a6b588a34ac1
diff --git a/src/sas_datalogger b/src/sas_datalogger
index ea50dd6..8ea8f42 160000
--- a/src/sas_datalogger
+++ b/src/sas_datalogger
@@ -1 +1 @@
-Subproject commit ea50dd6937ee078e64e5d05d4be0e48bf623320e
+Subproject commit 8ea8f4294c8bc5db4d2ab8c422e5d41540bf74a0
diff --git a/src/sas_force_sensor b/src/sas_force_sensor
index 03eaa9d..f35441a 160000
--- a/src/sas_force_sensor
+++ b/src/sas_force_sensor
@@ -1 +1 @@
-Subproject commit 03eaa9dfdb33aa6b6c51bc8486d70ea353cdd1bf
+Subproject commit f35441a6c7fadce6cc7377bb90706df5331b85d1
diff --git a/src/sas_force_sensor_bota b/src/sas_force_sensor_bota
index 5ac1d27..769bc41 160000
--- a/src/sas_force_sensor_bota
+++ b/src/sas_force_sensor_bota
@@ -1 +1 @@
-Subproject commit 5ac1d27386d69e326d80e8b2ce2cbb87e367eb2b
+Subproject commit 769bc411cfdc18c446bcf2b5cbb1c35a2a8e21ed
diff --git a/src/sas_kuka_control_template b/src/sas_kuka_control_template
index 4739251..101ca66 160000
--- a/src/sas_kuka_control_template
+++ b/src/sas_kuka_control_template
@@ -1 +1 @@
-Subproject commit 473925188c2ba6e8d3ffb354714d21102e1ee6d5
+Subproject commit 101ca662b0ab776e957210d360aac2d5e9757eba
diff --git a/src/sas_robot_driver b/src/sas_robot_driver
index def7247..cdb0044 160000
--- a/src/sas_robot_driver
+++ b/src/sas_robot_driver
@@ -1 +1 @@
-Subproject commit def724726206600e4a239fa9eccf35b2b26559e8
+Subproject commit cdb00444a8037fd9fa3d32f872a3044f0b1272f3
diff --git a/src/sas_robot_driver_coppeliasim b/src/sas_robot_driver_coppeliasim
index fb7c724..12b337c 160000
--- a/src/sas_robot_driver_coppeliasim
+++ b/src/sas_robot_driver_coppeliasim
@@ -1 +1 @@
-Subproject commit fb7c724238dc6d709ee76b3191c5e18f27a4faaf
+Subproject commit 12b337c897aa111932fd3fd16f5e6a5178b11e80
diff --git a/src/sas_robot_driver_gazebo b/src/sas_robot_driver_gazebo
index 61c0335..eeed9ce 160000
--- a/src/sas_robot_driver_gazebo
+++ b/src/sas_robot_driver_gazebo
@@ -1 +1 @@
-Subproject commit 61c0335db94f52af80503c487d6a1f0bcfc1a78b
+Subproject commit eeed9ce5460c5cf1e0f94afb2cbd2e541be35b0e
diff --git a/src/sas_robot_driver_kuka b/src/sas_robot_driver_kuka
index cc35367..dfaed59 160000
--- a/src/sas_robot_driver_kuka
+++ b/src/sas_robot_driver_kuka
@@ -1 +1 @@
-Subproject commit cc353674f9ff63b413ef22afe23145d0b449e238
+Subproject commit dfaed597183b59478c0486aa2dec518064bbd843
diff --git a/src/sas_robot_driver_ur b/src/sas_robot_driver_ur
index efed4b9..4d620a6 160000
--- a/src/sas_robot_driver_ur
+++ b/src/sas_robot_driver_ur
@@ -1 +1 @@
-Subproject commit efed4b93db7d05fdadebdfc38f83828730dc4090
+Subproject commit 4d620a640bb910b8e410d005050d6d08a2ef0856
diff --git a/src/sas_robot_kinematics b/src/sas_robot_kinematics
index 50a6be6..de9e32b 160000
--- a/src/sas_robot_kinematics
+++ b/src/sas_robot_kinematics
@@ -1 +1 @@
-Subproject commit 50a6be64bbdf29690e1bce2b13ff062ca54eb05e
+Subproject commit de9e32bebcb884b2464240300decd5d29c43ff13
diff --git a/src/sas_ur_control_template b/src/sas_ur_control_template
index c83135a..66126b8 160000
--- a/src/sas_ur_control_template
+++ b/src/sas_ur_control_template
@@ -1 +1 @@
-Subproject commit c83135aae4422f8a23638968279c2e5bf0ee7ed7
+Subproject commit 66126b89d777b9bcf68cb68f8fa9a53a78c4819d