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 & Parameters

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

The sas_common_ros2_parameter_test_node is launched through sas_common_ros2_parameter_test_launch.py, which loads parameters from config/config.yaml (pass a different file with config_file:=/path/to/config.yaml).

ros2 run sas_common sas_object_test_node

Node: sas_common_ros2_parameter_test_node

Property	Value
Executable	sas_common_ros2_parameter_test_node
ROS node name	sas_common_ros2_parameter_test (set by the name launch argument of sas_common_ros2_parameter_test_launch.py)
Description	Example/test node demonstrating the behaviour of sas::get_ros_parameter. It validates ROS 2 parameter parsing, including the package-specific handling of empty lists encoded as ["EMPTY_LIST"].

Parameters

All eight parameters are optional — an absent vector parameter defaults to an empty list.

Parameter	Type	Mandatory / Optional	Default	Purpose
empty_string_vector	string array	Optional	[] (empty)	Exercises the ["EMPTY_LIST"] marker for an empty string vector
empty_integer_vector	integer array	Optional	[] (empty)	Exercises the ["EMPTY_LIST"] marker for an empty integer vector
empty_double_vector	double array	Optional	[] (empty)	Exercises the ["EMPTY_LIST"] marker for an empty double vector
empty_bool_vector	boolean array	Optional	[] (empty)	Exercises the ["EMPTY_LIST"] marker for an empty boolean vector
string_vector	string array	Optional	[] (empty)	A non-empty string vector to test parsing
integer_vector	integer array	Optional	[] (empty)	A non-empty integer vector to test parsing
double_vector	double array	Optional	[] (empty)	A non-empty double vector to test parsing
bool_vector	boolean array	Optional	[] (empty)	A non-empty boolean vector to test parsing

Sample launch

ros2 launch sas_common sas_common_ros2_parameter_test_launch.py

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, loading its parameters from config/config.yaml (or a file of your choice via config_file:=/path/to/config.yaml). 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