From 23987bb653ecfa6d2dc8ea5af368e273b9cc8d17 Mon Sep 17 00:00:00 2001
From: OpenHands <openhands@all-hands.dev>
Date: Fri, 14 Aug 2026 23:40:31 +0000
Subject: [PATCH 1/8] Add nested src/CMakeLists.txt with sas_core_pure library
 + fix Docker compose for container environments

- Create src/CMakeLists.txt that builds all non-ROS2 C++ sources into a
  static library target `sas_core_pure` with -fPIC.

- Refactor parent CMakeLists.txt: delegate source compilation to
  add_subdirectory(src) and keep an INTERFACE alias `sas_core` so external
  ROS packages can still link against the original target name.

- Remove the bind-mount from docker/compose.yml and COPY the source into
  the Dockerfile instead, since Docker Desktop cannot access container
  internal paths.

- All 6 ROS2 examples (C++ and Python) build and run successfully.
---
 CMakeLists.txt     | 83 ++++++++++++++--------------------------------
 docker/Dockerfile  |  3 +-
 docker/compose.yml |  6 ++--
 src/CMakeLists.txt | 29 ++++++++++++++++
 4 files changed, 58 insertions(+), 63 deletions(-)
 create mode 100644 src/CMakeLists.txt

diff --git a/CMakeLists.txt b/CMakeLists.txt
index dbe631d..276e2e1 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -18,116 +18,84 @@ add_subdirectory(pybind11)
 find_package(ament_cmake REQUIRED)
 find_package(Eigen3 REQUIRED)
 
-##### CPP LIBRARY #####
-
-add_library(${PROJECT_NAME} SHARED
-    src/sas_clock.cpp
-    src/sas_core.cpp
-    src/sas_object.cpp
-    src/sas_shutdown_signaler.cpp
-    # sas_robot_driver
-    src/sas_robot_driver.cpp
-    src/examples/sas_robot_driver_example.cpp
-    src/eigen3_std_conversions.cpp
-    )
+##############################
+# Pure C++ library (src/)     #
+##############################
+add_subdirectory(src)
 
-ament_target_dependencies(${PROJECT_NAME} Eigen3)
-
-target_include_directories(${PROJECT_NAME}
-    PUBLIC
-    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-    $<INSTALL_INTERFACE:include>)
+# INTERFACE alias so external ROS packages can still link against `sas_core`.
+# All symbols come from sas_core_pure transitively.
+add_library(sas_core INTERFACE)
+target_link_libraries(sas_core INTERFACE sas_core_pure)
 
 ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
 ament_export_dependencies(Eigen3)
 
-target_link_libraries(${PROJECT_NAME}
-    -ldqrobotics
-    Eigen3::Eigen
-    )
-
 install(
     DIRECTORY include/
     DESTINATION include
     )
 
 install(
-    TARGETS ${PROJECT_NAME}
+    TARGETS sas_core sas_core_pure
     EXPORT export_${PROJECT_NAME}
-    LIBRARY DESTINATION lib
-    #ARCHIVE DESTINATION lib
-    RUNTIME DESTINATION bin
+    ARCHIVE DESTINATION lib
     INCLUDES DESTINATION include
     )
 
-##END## CPP LIBRARY #####
-
-##### CPP BINARY #####
-
+##############################
+# Binaries                    #
+##############################
 add_executable(sas_core_example
     src/examples/sas_core_example.cpp)
 
 target_link_libraries(sas_core_example
     -ldqrobotics
-    ${PROJECT_NAME}
+    sas_core_pure
     )
 
 install(TARGETS
     sas_core_example
     DESTINATION lib/${PROJECT_NAME})
 
-##END## CPP BINARY #####
-
-##### CPP BINARY #####
-
 add_executable(sas_clock_example
     src/examples/sas_clock_example.cpp)
 
 target_link_libraries(sas_clock_example
-    ${PROJECT_NAME}
+    sas_core_pure
     )
 
 install(TARGETS
     sas_clock_example
     DESTINATION lib/${PROJECT_NAME})
 
-##END## CPP BINARY #####
-
-##### CPP BINARY #####
-
 add_executable(sas_clock_sched_fifo_example
     src/examples/sas_clock_sched_fifo_example.cpp)
 
 target_link_libraries(sas_clock_sched_fifo_example
-    ${PROJECT_NAME}
+    sas_core_pure
     )
 
 install(TARGETS
     sas_clock_sched_fifo_example
     DESTINATION lib/${PROJECT_NAME})
 
-##END## CPP BINARY #####
-
-##### CPP BINARY #####
-
 add_executable(sas_robot_driver_example
     src/examples/sas_robot_driver_example_main.cpp)
 
 target_link_libraries(sas_robot_driver_example
-    ${PROJECT_NAME}
+    sas_core_pure
     )
 
 install(TARGETS
     sas_robot_driver_example
     DESTINATION lib/${PROJECT_NAME})
 
-##END## CPP BINARY #####
-
-##### PYBIND11 LIBRARY #####
-
+##############################
+# Pybind11                    #
+##############################
 ament_python_install_package(${PROJECT_NAME})
 
-
 pybind11_add_module(_${PROJECT_NAME} SHARED
     src/sas_core_py.cpp
     src/sas_robot_driver_py.cpp
@@ -139,23 +107,20 @@ target_include_directories(_${PROJECT_NAME}
     $<INSTALL_INTERFACE:include>)
 
 target_compile_definitions(_${PROJECT_NAME} PRIVATE IS_SAS_PYTHON_BUILD)
-# https://github.com/pybind/pybind11/issues/387
-target_link_libraries(_${PROJECT_NAME} PRIVATE ${PROJECT_NAME} -ldqrobotics)
+target_link_libraries(_${PROJECT_NAME} PRIVATE sas_core_pure -ldqrobotics)
 
 install(TARGETS _${PROJECT_NAME}
   DESTINATION "${PYTHON_INSTALL_DIR}/${PROJECT_NAME}"
 )
 
-##END## PYBIND11 LIBRARY #####
-
-# According to https://github.com/SmartArmStack/sas_datalogger/blob/78ac681f9cb049c5b9715d215f163565f16b5cdc/CMakeLists.txt
-##### PYTHON EXECUTABLES #####
+##############################
+# Python executables          #
+##############################
 install(PROGRAMS
   scripts/sas_clock_example_py.py
   scripts/sas_robot_driver_subclass_example_py.py
   scripts/sas_clock_sched_fifo_example_py.py
   DESTINATION lib/${PROJECT_NAME}
 )
-##END## PYTHON EXECUTABLES #####
 
 ament_package()
diff --git a/docker/Dockerfile b/docker/Dockerfile
index bacfc61..6cd2542 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -6,4 +6,5 @@ ENV BASH_ENV="/etc/bash_env"
 RUN sudo apt-get update && sudo apt-get upgrade -y
 RUN python3 -m pip install --upgrade dqrobotics --break-system-packages
 RUN sudo sudo apt-get remove -y ros-jazzy-sas-core
-RUN mkdir -p /root/sas_core_devel/src/
\ No newline at end of file
+RUN mkdir -p /root/sas_core_devel/src/
+COPY . /root/sas_core_devel/src/sas_core
\ No newline at end of file
diff --git a/docker/compose.yml b/docker/compose.yml
index e2e485a..ea4e18c 100644
--- a/docker/compose.yml
+++ b/docker/compose.yml
@@ -1,8 +1,8 @@
 services:
   sas_core:
-    build: .
-    volumes:
-      - ../../sas_core:/root/sas_core_devel/src/sas_core
+    build:
+      context: ..
+      dockerfile: docker/Dockerfile
     environment:
       PYTHONUNBUFFERED: 1
     command: /bin/bash -c "
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
new file mode 100644
index 0000000..d69bc16
--- /dev/null
+++ b/src/CMakeLists.txt
@@ -0,0 +1,29 @@
+# sas_core_pure: the pure C++ library (no ROS2/ament dependencies)
+
+find_package(Eigen3 REQUIRED)
+
+add_library(sas_core_pure STATIC
+    sas_clock.cpp
+    sas_core.cpp
+    sas_object.cpp
+    sas_shutdown_signaler.cpp
+    sas_robot_driver.cpp
+    examples/sas_robot_driver_example.cpp
+    eigen3_std_conversions.cpp
+)
+
+set_target_properties(sas_core_pure PROPERTIES
+    POSITION_INDEPENDENT_CODE ON
+)
+
+target_include_directories(sas_core_pure
+    PUBLIC
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/../include>
+    $<INSTALL_INTERFACE:include>
+)
+
+target_link_libraries(sas_core_pure
+    PUBLIC
+    -ldqrobotics
+    Eigen3::Eigen
+)
\ No newline at end of file

From 089086655bc44cc1bf67d6b4ddecee90e4a39761 Mon Sep 17 00:00:00 2001
From: openhands <openhands@all-hands.dev>
Date: Sat, 15 Aug 2026 08:40:18 +0000
Subject: [PATCH 2/8] Move sas_core_pure CMake to cmake/sas_core_pure.cmake and
 include via parent CMakeLists.txt

- Relocate src/CMakeLists.txt to cmake/sas_core_pure.cmake
- Switch from add_subdirectory(src) to include(cmake/sas_core_pure.cmake)
- Use CMAKE_CURRENT_LIST_DIR for correct path resolution in included file
- Update test_consumer to link against sas_core::sas_core_pure target
- Fix Docker COPY to include full build context
---
 CMakeLists.txt                      |  8 +++++--
 cmake/sas_core_pure.cmake           | 37 +++++++++++++++++++++++++++++
 docker/Dockerfile                   |  3 ++-
 docker/compose.yml                  |  1 +
 src/CMakeLists.txt                  | 29 ----------------------
 test_consumer/CMakeLists.txt        | 15 ++++++++++++
 test_consumer/package.xml           | 20 ++++++++++++++++
 test_consumer/src/test_consumer.cpp | 24 +++++++++++++++++++
 8 files changed, 105 insertions(+), 32 deletions(-)
 create mode 100644 cmake/sas_core_pure.cmake
 delete mode 100644 src/CMakeLists.txt
 create mode 100644 test_consumer/CMakeLists.txt
 create mode 100644 test_consumer/package.xml
 create mode 100644 test_consumer/src/test_consumer.cpp

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 276e2e1..86b7f71 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -19,17 +19,21 @@ find_package(ament_cmake REQUIRED)
 find_package(Eigen3 REQUIRED)
 
 ##############################
-# Pure C++ library (src/)     #
+# Pure C++ library            #
 ##############################
-add_subdirectory(src)
+include(cmake/sas_core_pure.cmake)
 
 # INTERFACE alias so external ROS packages can still link against `sas_core`.
 # All symbols come from sas_core_pure transitively.
 add_library(sas_core INTERFACE)
 target_link_libraries(sas_core INTERFACE sas_core_pure)
+target_include_directories(sas_core INTERFACE
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+    $<INSTALL_INTERFACE:include>)
 
 ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
 ament_export_dependencies(Eigen3)
+ament_export_include_directories(include)
 
 install(
     DIRECTORY include/
diff --git a/cmake/sas_core_pure.cmake b/cmake/sas_core_pure.cmake
new file mode 100644
index 0000000..fb5a7c8
--- /dev/null
+++ b/cmake/sas_core_pure.cmake
@@ -0,0 +1,37 @@
+# sas_core_pure: the pure C++ library (no ROS2/ament dependencies)
+
+find_package(Eigen3 REQUIRED)
+
+# Use CURRENT_LIST_DIR so paths resolve relative to this cmake file
+set(_sas_core_pure_dir "${CMAKE_CURRENT_LIST_DIR}/../src")
+
+set(_sas_core_pure_sources
+    ${_sas_core_pure_dir}/sas_clock.cpp
+    ${_sas_core_pure_dir}/sas_core.cpp
+    ${_sas_core_pure_dir}/sas_object.cpp
+    ${_sas_core_pure_dir}/sas_shutdown_signaler.cpp
+    ${_sas_core_pure_dir}/sas_robot_driver.cpp
+    ${_sas_core_pure_dir}/examples/sas_robot_driver_example.cpp
+    ${_sas_core_pure_dir}/eigen3_std_conversions.cpp
+)
+
+add_library(sas_core_pure STATIC ${_sas_core_pure_sources})
+
+set_target_properties(sas_core_pure PROPERTIES
+    POSITION_INDEPENDENT_CODE ON
+)
+
+target_include_directories(sas_core_pure
+    PUBLIC
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}/../include>
+    $<INSTALL_INTERFACE:include>
+)
+
+target_link_libraries(sas_core_pure
+    PUBLIC
+    -ldqrobotics
+    Eigen3::Eigen
+)
+
+unset(_sas_core_pure_dir)
+unset(_sas_core_pure_sources)
\ No newline at end of file
diff --git a/docker/Dockerfile b/docker/Dockerfile
index 6cd2542..f713016 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -7,4 +7,5 @@ RUN sudo apt-get update && sudo apt-get upgrade -y
 RUN python3 -m pip install --upgrade dqrobotics --break-system-packages
 RUN sudo sudo apt-get remove -y ros-jazzy-sas-core
 RUN mkdir -p /root/sas_core_devel/src/
-COPY . /root/sas_core_devel/src/sas_core
\ No newline at end of file
+COPY . /root/sas_core_devel/src/sas_core
+COPY test_consumer /root/sas_core_devel/src/test_consumer
\ No newline at end of file
diff --git a/docker/compose.yml b/docker/compose.yml
index ea4e18c..cebf367 100644
--- a/docker/compose.yml
+++ b/docker/compose.yml
@@ -16,4 +16,5 @@ services:
       && ros2 run sas_core sas_robot_driver_subclass_example_py.py
       && ros2 run sas_core sas_clock_sched_fifo_example
       && ros2 run sas_core sas_clock_sched_fifo_example_py.py
+      && ros2 run test_consumer test_consumer
       "
\ No newline at end of file
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
deleted file mode 100644
index d69bc16..0000000
--- a/src/CMakeLists.txt
+++ /dev/null
@@ -1,29 +0,0 @@
-# sas_core_pure: the pure C++ library (no ROS2/ament dependencies)
-
-find_package(Eigen3 REQUIRED)
-
-add_library(sas_core_pure STATIC
-    sas_clock.cpp
-    sas_core.cpp
-    sas_object.cpp
-    sas_shutdown_signaler.cpp
-    sas_robot_driver.cpp
-    examples/sas_robot_driver_example.cpp
-    eigen3_std_conversions.cpp
-)
-
-set_target_properties(sas_core_pure PROPERTIES
-    POSITION_INDEPENDENT_CODE ON
-)
-
-target_include_directories(sas_core_pure
-    PUBLIC
-    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/../include>
-    $<INSTALL_INTERFACE:include>
-)
-
-target_link_libraries(sas_core_pure
-    PUBLIC
-    -ldqrobotics
-    Eigen3::Eigen
-)
\ No newline at end of file
diff --git a/test_consumer/CMakeLists.txt b/test_consumer/CMakeLists.txt
new file mode 100644
index 0000000..7566e42
--- /dev/null
+++ b/test_consumer/CMakeLists.txt
@@ -0,0 +1,15 @@
+cmake_minimum_required(VERSION 3.8)
+project(test_consumer)
+
+find_package(ament_cmake REQUIRED)
+find_package(sas_core REQUIRED)
+
+# Build a simple executable that links against the sas_core library
+add_executable(test_consumer src/test_consumer.cpp)
+target_link_libraries(test_consumer sas_core::sas_core_pure)
+
+install(TARGETS
+    test_consumer
+    DESTINATION lib/${PROJECT_NAME})
+
+ament_package()
\ No newline at end of file
diff --git a/test_consumer/package.xml b/test_consumer/package.xml
new file mode 100644
index 0000000..50cda4b
--- /dev/null
+++ b/test_consumer/package.xml
@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>test_consumer</name>
+  <version>0.0.0</version>
+  <description>Temporary package to test importing sas_core from another ROS2 package</description>
+  <maintainer email="test@test.com">test</maintainer>
+  <license>LGPLv3</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <build_depend>sas_core</build_depend>
+  <exec_depend>sas_core</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
\ No newline at end of file
diff --git a/test_consumer/src/test_consumer.cpp b/test_consumer/src/test_consumer.cpp
new file mode 100644
index 0000000..81f1fbf
--- /dev/null
+++ b/test_consumer/src/test_consumer.cpp
@@ -0,0 +1,24 @@
+#include <iostream>
+#include <sas_core/sas_core.hpp>
+#include <sas_core/sas_clock.hpp>
+#include <sas_core/sas_shutdown_signaler.hpp>
+
+int main(int argc, char** argv)
+{
+    // Test sas_core namespace is accessible and usable
+    VectorXd a(2);
+    a << 1.0, 2.0;
+
+    VectorXd b(2);
+    b << 3.0, 4.0;
+
+    VectorXd c = sas::concatenate(a, b);
+    std::cout << "concatenate result: " << c.transpose() << std::endl;
+
+    // Test incremental_mean
+    double mean = sas::incremental_mean(1.0, 1, 3.0);
+    std::cout << "incremental_mean(1.0, 1, 3.0) = " << mean << std::endl;
+
+    std::cout << "sas_core imported successfully from test_consumer!" << std::endl;
+    return 0;
+}
\ No newline at end of file

From ff098c032943928cef57ed282be41dee52b86e64 Mon Sep 17 00:00:00 2001
From: openhands <openhands@all-hands.dev>
Date: Sat, 15 Aug 2026 10:33:46 +0000
Subject: [PATCH 3/8] Rename cpplib.cmake, extract pythonlib.cmake, add
 ROS2_BUILD option

- Rename cmake/sas_core_pure.cmake to cmake/cpplib.cmake
- Extract Python pybind11 wrapper to cmake/pythonlib.cmake
- Add ROS2_BUILD option (ON by default) in main CMakeLists.txt
- When ROS2_BUILD=OFF: only builds cpplib + pythonlib targets
- When ROS2_BUILD=ON: full ament build with examples and exports
- Python module install path adapts to ROS2 (ament) or plain CMake context
---
 CMakeLists.txt                              | 172 ++++++++------------
 cmake/{sas_core_pure.cmake => cpplib.cmake} |   0
 cmake/pythonlib.cmake                       |  34 ++++
 3 files changed, 98 insertions(+), 108 deletions(-)
 rename cmake/{sas_core_pure.cmake => cpplib.cmake} (100%)
 create mode 100644 cmake/pythonlib.cmake

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 86b7f71..06c90c8 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,130 +1,86 @@
 cmake_minimum_required(VERSION 3.8)
 project(sas_core)
 
+option(ROS2_BUILD "Enable ROS2/ament build (examples + ament integration)" ON)
+
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
     add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-#################################
-# pybind11 import block [BEGIN] #
-# vvvvvvvvvvvvvvvvvvvvvvvvvvvvv #
-set(PYBIND11_FINDPYTHON ON) # Fix CMP0148 Warning. https://github.com/pybind/pybind11/issues/4785
-add_subdirectory(pybind11)
-# ^^^^^^^^^^^^^^^^^^^^^^^^^^^ #
-# pybind11 import block [END] #
-###############################
-
-# find dependencies
-find_package(ament_cmake REQUIRED)
+# Find non-ROS dependencies
 find_package(Eigen3 REQUIRED)
 
 ##############################
 # Pure C++ library            #
 ##############################
-include(cmake/sas_core_pure.cmake)
-
-# INTERFACE alias so external ROS packages can still link against `sas_core`.
-# All symbols come from sas_core_pure transitively.
-add_library(sas_core INTERFACE)
-target_link_libraries(sas_core INTERFACE sas_core_pure)
-target_include_directories(sas_core INTERFACE
-    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-    $<INSTALL_INTERFACE:include>)
-
-ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
-ament_export_dependencies(Eigen3)
-ament_export_include_directories(include)
-
-install(
-    DIRECTORY include/
-    DESTINATION include
-    )
-
-install(
-    TARGETS sas_core sas_core_pure
-    EXPORT export_${PROJECT_NAME}
-    ARCHIVE DESTINATION lib
-    INCLUDES DESTINATION include
-    )
+include(cmake/cpplib.cmake)
 
 ##############################
-# Binaries                    #
+# Python wrapper (pybind11)   #
 ##############################
-add_executable(sas_core_example
-    src/examples/sas_core_example.cpp)
-
-target_link_libraries(sas_core_example
-    -ldqrobotics
-    sas_core_pure
-    )
-
-install(TARGETS
-    sas_core_example
-    DESTINATION lib/${PROJECT_NAME})
-
-add_executable(sas_clock_example
-    src/examples/sas_clock_example.cpp)
-
-target_link_libraries(sas_clock_example
-    sas_core_pure
-    )
-
-install(TARGETS
-    sas_clock_example
-    DESTINATION lib/${PROJECT_NAME})
-
-add_executable(sas_clock_sched_fifo_example
-    src/examples/sas_clock_sched_fifo_example.cpp)
-
-target_link_libraries(sas_clock_sched_fifo_example
-    sas_core_pure
-    )
-
-install(TARGETS
-    sas_clock_sched_fifo_example
-    DESTINATION lib/${PROJECT_NAME})
-
-add_executable(sas_robot_driver_example
-    src/examples/sas_robot_driver_example_main.cpp)
-
-target_link_libraries(sas_robot_driver_example
-    sas_core_pure
-    )
-
-install(TARGETS
-    sas_robot_driver_example
-    DESTINATION lib/${PROJECT_NAME})
+if(ROS2_BUILD)
+    find_package(ament_cmake REQUIRED)
+    ament_python_install_package(${PROJECT_NAME})
+    # ament_python_install_package sets PYTHON_INSTALL_DIR — pass it to pythonlib.cmake
+    set(_SAS_PYTHON_INSTALL_DIR "${PYTHON_INSTALL_DIR}/${PROJECT_NAME}")
+endif()
+include(cmake/pythonlib.cmake)
 
 ##############################
-# Pybind11                    #
+# ROS2 / ament integration    #
 ##############################
-ament_python_install_package(${PROJECT_NAME})
-
-pybind11_add_module(_${PROJECT_NAME} SHARED
-    src/sas_core_py.cpp
-    src/sas_robot_driver_py.cpp
+if(ROS2_BUILD)
+    # INTERFACE alias so external ROS packages can link against `sas_core`.
+    add_library(sas_core INTERFACE)
+    target_link_libraries(sas_core INTERFACE sas_core_pure)
+    target_include_directories(sas_core INTERFACE
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+        $<INSTALL_INTERFACE:include>)
+
+    ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
+    ament_export_dependencies(Eigen3)
+    ament_export_include_directories(include)
+
+    install(
+        DIRECTORY include/
+        DESTINATION include
     )
 
-target_include_directories(_${PROJECT_NAME}
-  PUBLIC
-    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-    $<INSTALL_INTERFACE:include>)
-
-target_compile_definitions(_${PROJECT_NAME} PRIVATE IS_SAS_PYTHON_BUILD)
-target_link_libraries(_${PROJECT_NAME} PRIVATE sas_core_pure -ldqrobotics)
-
-install(TARGETS _${PROJECT_NAME}
-  DESTINATION "${PYTHON_INSTALL_DIR}/${PROJECT_NAME}"
-)
+    install(
+        TARGETS sas_core sas_core_pure
+        EXPORT export_${PROJECT_NAME}
+        ARCHIVE DESTINATION lib
+        INCLUDES DESTINATION include
+    )
 
-##############################
-# Python executables          #
-##############################
-install(PROGRAMS
-  scripts/sas_clock_example_py.py
-  scripts/sas_robot_driver_subclass_example_py.py
-  scripts/sas_clock_sched_fifo_example_py.py
-  DESTINATION lib/${PROJECT_NAME}
-)
+    ################################################################################
+    # Example executables
+    ################################################################################
+    add_executable(sas_core_example src/examples/sas_core_example.cpp)
+    target_link_libraries(sas_core_example -ldqrobotics sas_core_pure)
+    install(TARGETS sas_core_example DESTINATION lib/${PROJECT_NAME})
+
+    add_executable(sas_clock_example src/examples/sas_clock_example.cpp)
+    target_link_libraries(sas_clock_example sas_core_pure)
+    install(TARGETS sas_clock_example DESTINATION lib/${PROJECT_NAME})
+
+    add_executable(sas_clock_sched_fifo_example src/examples/sas_clock_sched_fifo_example.cpp)
+    target_link_libraries(sas_clock_sched_fifo_example sas_core_pure)
+    install(TARGETS sas_clock_sched_fifo_example DESTINATION lib/${PROJECT_NAME})
+
+    add_executable(sas_robot_driver_example src/examples/sas_robot_driver_example_main.cpp)
+    target_link_libraries(sas_robot_driver_example sas_core_pure)
+    install(TARGETS sas_robot_driver_example DESTINATION lib/${PROJECT_NAME})
+
+    ################################################################################
+    # Python executables
+    ################################################################################
+    install(PROGRAMS
+        scripts/sas_clock_example_py.py
+        scripts/sas_robot_driver_subclass_example_py.py
+        scripts/sas_clock_sched_fifo_example_py.py
+        DESTINATION lib/${PROJECT_NAME}
+    )
 
-ament_package()
+    ament_package()
+endif()
diff --git a/cmake/sas_core_pure.cmake b/cmake/cpplib.cmake
similarity index 100%
rename from cmake/sas_core_pure.cmake
rename to cmake/cpplib.cmake
diff --git a/cmake/pythonlib.cmake b/cmake/pythonlib.cmake
new file mode 100644
index 0000000..70be815
--- /dev/null
+++ b/cmake/pythonlib.cmake
@@ -0,0 +1,34 @@
+# Python wrapper module via pybind11
+
+find_package(Python3 REQUIRED COMPONENTS Development)
+
+# pybind11 import block [BEGIN]
+# vvvvvvvvvvvvvvvvvvvvvvvvvvvvv #
+set(PYBIND11_FINDPYTHON ON) # Fix CMP0148 Warning. https://github.com/pybind/pybind11/issues/4785
+add_subdirectory(${CMAKE_CURRENT_LIST_DIR}/../pybind11)
+# ^^^^^^^^^^^^^^^^^^^^^^^^^^^ #
+# pybind11 import block [END] #
+
+pybind11_add_module(_${PROJECT_NAME} SHARED
+    ${CMAKE_CURRENT_LIST_DIR}/../src/sas_core_py.cpp
+    ${CMAKE_CURRENT_LIST_DIR}/../src/sas_robot_driver_py.cpp
+)
+
+target_include_directories(_${PROJECT_NAME}
+  PUBLIC
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}/../include>
+    $<INSTALL_INTERFACE:include>)
+
+target_compile_definitions(_${PROJECT_NAME} PRIVATE IS_SAS_PYTHON_BUILD)
+target_link_libraries(_${PROJECT_NAME} PRIVATE sas_core_pure -ldqrobotics)
+
+# Install path: use _SAS_PYTHON_INSTALL_DIR if set by parent (ROS2/ament),
+# otherwise default to the standard Python site-packages location.
+if(DEFINED _SAS_PYTHON_INSTALL_DIR)
+  set(_SAS_PY_INSTALL_DEST "${_SAS_PYTHON_INSTALL_DIR}")
+else()
+  set(_SAS_PY_INSTALL_DEST "lib/python3/dist-packages/${PROJECT_NAME}")
+endif()
+
+install(TARGETS _${PROJECT_NAME}
+  DESTINATION "${_SAS_PY_INSTALL_DEST}")
\ No newline at end of file

From d39585fc2051b1aa44b7a74a4ac34d8411794980 Mon Sep 17 00:00:00 2001
From: openhands <openhands@all-hands.dev>
Date: Sat, 15 Aug 2026 11:10:42 +0000
Subject: [PATCH 4/8] Add Python test to test_consumer and standalone non-ROS2
 CMake test package

- Add test_consumer/test/test_python_import.py: verifies sas_core Python
  bindings (Clock, Statistics, RobotDriver, ShutdownSignaler) import
  correctly from a downstream ROS2 package
- Create standalone_consumer/: temporary plain-CMake package (no ROS2/ament)
  that includes cmake/cpplib.cmake and cmake/pythonlib.cmake to validate
  sas_core can be consumed outside of ROS2
- standalone_consumer/src/standalone_consumer.cpp: links sas_core_pure
  and exercises sas::concatenate, sas::incremental_mean, ShutdownSignaler
- standalone_consumer/test/test_python_import.py: validates Python
  bindings from the non-ROS2 build
- Fix pythonlib.cmake to always emit _sas_core module (not project-name
  dependent) so the import works regardless of consuming project
- Fix pythonlib.cmake add_subdirectory to provide binary dir for
  out-of-tree includes
- Update Dockerfile to copy standalone_consumer outside colcon workspace
- Update compose.yml to build standalone_consumer with plain cmake and
  run both Python import tests
---
 cmake/pythonlib.cmake                         | 22 +++++++-----
 docker/Dockerfile                             |  4 ++-
 docker/compose.yml                            | 11 ++++++
 standalone_consumer/CMakeLists.txt            | 34 +++++++++++++++++++
 .../src/standalone_consumer.cpp               | 32 +++++++++++++++++
 .../test/test_python_import.py                | 17 ++++++++++
 test_consumer/CMakeLists.txt                  | 12 +++++++
 test_consumer/test/test_python_import.py      | 21 ++++++++++++
 8 files changed, 144 insertions(+), 9 deletions(-)
 create mode 100644 standalone_consumer/CMakeLists.txt
 create mode 100644 standalone_consumer/src/standalone_consumer.cpp
 create mode 100644 standalone_consumer/test/test_python_import.py
 create mode 100644 test_consumer/test/test_python_import.py

diff --git a/cmake/pythonlib.cmake b/cmake/pythonlib.cmake
index 70be815..3ec24ee 100644
--- a/cmake/pythonlib.cmake
+++ b/cmake/pythonlib.cmake
@@ -5,30 +5,36 @@ find_package(Python3 REQUIRED COMPONENTS Development)
 # pybind11 import block [BEGIN]
 # vvvvvvvvvvvvvvvvvvvvvvvvvvvvv #
 set(PYBIND11_FINDPYTHON ON) # Fix CMP0148 Warning. https://github.com/pybind/pybind11/issues/4785
-add_subdirectory(${CMAKE_CURRENT_LIST_DIR}/../pybind11)
+# Provide binary directory for out-of-tree include (e.g. when included from standalone_consumer)
+add_subdirectory(${CMAKE_CURRENT_LIST_DIR}/../pybind11 ${CMAKE_CURRENT_BINARY_DIR}/pybind11)
 # ^^^^^^^^^^^^^^^^^^^^^^^^^^^ #
 # pybind11 import block [END] #
 
-pybind11_add_module(_${PROJECT_NAME} SHARED
+# Always build the module as _sas_core regardless of the including project's name
+set(_SAS_PY_MODULE_NAME "_sas_core")
+
+pybind11_add_module(${_SAS_PY_MODULE_NAME} SHARED
     ${CMAKE_CURRENT_LIST_DIR}/../src/sas_core_py.cpp
     ${CMAKE_CURRENT_LIST_DIR}/../src/sas_robot_driver_py.cpp
 )
 
-target_include_directories(_${PROJECT_NAME}
+target_include_directories(${_SAS_PY_MODULE_NAME}
   PUBLIC
     $<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}/../include>
     $<INSTALL_INTERFACE:include>)
 
-target_compile_definitions(_${PROJECT_NAME} PRIVATE IS_SAS_PYTHON_BUILD)
-target_link_libraries(_${PROJECT_NAME} PRIVATE sas_core_pure -ldqrobotics)
+target_compile_definitions(${_SAS_PY_MODULE_NAME} PRIVATE IS_SAS_PYTHON_BUILD)
+target_link_libraries(${_SAS_PY_MODULE_NAME} PRIVATE sas_core_pure -ldqrobotics)
 
 # Install path: use _SAS_PYTHON_INSTALL_DIR if set by parent (ROS2/ament),
 # otherwise default to the standard Python site-packages location.
 if(DEFINED _SAS_PYTHON_INSTALL_DIR)
   set(_SAS_PY_INSTALL_DEST "${_SAS_PYTHON_INSTALL_DIR}")
 else()
-  set(_SAS_PY_INSTALL_DEST "lib/python3/dist-packages/${PROJECT_NAME}")
+  set(_SAS_PY_INSTALL_DEST "lib/python3/dist-packages/sas_core")
 endif()
 
-install(TARGETS _${PROJECT_NAME}
-  DESTINATION "${_SAS_PY_INSTALL_DEST}")
\ No newline at end of file
+install(TARGETS ${_SAS_PY_MODULE_NAME}
+  DESTINATION "${_SAS_PY_INSTALL_DEST}")
+
+unset(_SAS_PY_MODULE_NAME)
\ No newline at end of file
diff --git a/docker/Dockerfile b/docker/Dockerfile
index f713016..6976156 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -8,4 +8,6 @@ RUN python3 -m pip install --upgrade dqrobotics --break-system-packages
 RUN sudo sudo apt-get remove -y ros-jazzy-sas-core
 RUN mkdir -p /root/sas_core_devel/src/
 COPY . /root/sas_core_devel/src/sas_core
-COPY test_consumer /root/sas_core_devel/src/test_consumer
\ No newline at end of file
+COPY test_consumer /root/sas_core_devel/src/test_consumer
+# standalone_consumer lives outside the colcon workspace
+COPY standalone_consumer /root/standalone_consumer
\ No newline at end of file
diff --git a/docker/compose.yml b/docker/compose.yml
index cebf367..b8eaa74 100644
--- a/docker/compose.yml
+++ b/docker/compose.yml
@@ -17,4 +17,15 @@ services:
       && ros2 run sas_core sas_clock_sched_fifo_example
       && ros2 run sas_core sas_clock_sched_fifo_example_py.py
       && ros2 run test_consumer test_consumer
+      && echo '--- Running Python import test from test_consumer ---'
+      && python3 test_consumer/test/test_python_import.py
+      && echo '--- Building standalone_consumer (no ROS2) ---'
+      && mkdir -p /root/standalone_build
+      && cd /root/standalone_build
+      && cmake /root/standalone_consumer -DCMAKE_INSTALL_PREFIX=/root/standalone_install
+      && make
+      && /root/standalone_build/standalone_consumer
+      && echo '--- Running Python import test from standalone_consumer ---'
+      && cp /root/standalone_build/_sas_core.*.so /root/sas_core_devel/src/sas_core/sas_core/ 2>/dev/null || true
+      && PYTHONPATH=/root/sas_core_devel/src/sas_core python3 /root/standalone_consumer/test/test_python_import.py
       "
\ No newline at end of file
diff --git a/standalone_consumer/CMakeLists.txt b/standalone_consumer/CMakeLists.txt
new file mode 100644
index 0000000..18fba8a
--- /dev/null
+++ b/standalone_consumer/CMakeLists.txt
@@ -0,0 +1,34 @@
+cmake_minimum_required(VERSION 3.8)
+project(standalone_consumer)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+    add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(Eigen3 REQUIRED)
+
+# Path to the sas_core source tree — required to include cmake modules
+set(SAS_CORE_SOURCE_DIR "/root/sas_core_devel/src/sas_core" CACHE PATH "Path to sas_core source")
+
+# Include sas_core pure C++ and Python library definitions (no ROS2/ament needed)
+include(${SAS_CORE_SOURCE_DIR}/cmake/cpplib.cmake)
+include(${SAS_CORE_SOURCE_DIR}/cmake/pythonlib.cmake)
+
+##############################
+# Standalone C++ consumer     #
+##############################
+add_executable(standalone_consumer src/standalone_consumer.cpp)
+target_link_libraries(standalone_consumer sas_core_pure)
+
+##############################
+# Standalone Python test      #
+##############################
+# The Python test runs as a CTest; it requires the built _sas_core module.
+find_package(Python3 REQUIRED COMPONENTS Interpreter)
+add_test(
+    NAME test_python_import
+    COMMAND ${Python3_EXECUTABLE} test/test_python_import.py
+)
+set_tests_properties(test_python_import PROPERTIES
+    ENVIRONMENT "PYTHONPATH=${CMAKE_BINARY_DIR}:${CMAKE_SOURCE_DIR}/.."
+)
\ No newline at end of file
diff --git a/standalone_consumer/src/standalone_consumer.cpp b/standalone_consumer/src/standalone_consumer.cpp
new file mode 100644
index 0000000..1301f7a
--- /dev/null
+++ b/standalone_consumer/src/standalone_consumer.cpp
@@ -0,0 +1,32 @@
+#include <iostream>
+#include <sas_core/sas_core.hpp>
+#include <sas_core/sas_clock.hpp>
+#include <sas_core/sas_shutdown_signaler.hpp>
+
+int main(int argc, char** argv)
+{
+    std::cout << "=== Standalone C++ consumer (no ROS2) ===" << std::endl;
+
+    // Test sas_core namespace is accessible and usable
+    VectorXd a(2);
+    a << 1.0, 2.0;
+
+    VectorXd b(2);
+    b << 3.0, 4.0;
+
+    VectorXd c = sas::concatenate(a, b);
+    std::cout << "concatenate result: " << c.transpose() << std::endl;
+
+    // Test incremental_mean
+    double mean = sas::incremental_mean(1.0, 1, 3.0);
+    std::cout << "incremental_mean(1.0, 1, 3.0) = " << mean << std::endl;
+
+    // Test ShutdownSignaler
+    sas::ShutdownSignaler signaler;
+    signaler.shutdown();
+    bool stopped = signaler.should_shutdown();
+    std::cout << "should_shutdown() = " << stopped << std::endl;
+
+    std::cout << "sas_core_pure imported successfully from standalone_consumer (no ROS2)!" << std::endl;
+    return 0;
+}
\ No newline at end of file
diff --git a/standalone_consumer/test/test_python_import.py b/standalone_consumer/test/test_python_import.py
new file mode 100644
index 0000000..212ef99
--- /dev/null
+++ b/standalone_consumer/test/test_python_import.py
@@ -0,0 +1,17 @@
+"""Test that sas_core Python bindings can be imported from a standalone (non-ROS2) CMake project."""
+
+def test_python_imports():
+    from sas_core import Clock, Statistics, RobotDriver, ShutdownSignaler
+
+    clock = Clock(0.1)
+    assert isinstance(clock, Clock)
+    assert Statistics is not None
+    assert RobotDriver is not None
+    assert ShutdownSignaler is not None
+
+    print("All sas_core Python imports successful from standalone_consumer (no ROS2)!")
+    return True
+
+
+if __name__ == "__main__":
+    test_python_imports()
\ No newline at end of file
diff --git a/test_consumer/CMakeLists.txt b/test_consumer/CMakeLists.txt
index 7566e42..70cceb5 100644
--- a/test_consumer/CMakeLists.txt
+++ b/test_consumer/CMakeLists.txt
@@ -12,4 +12,16 @@ install(TARGETS
     test_consumer
     DESTINATION lib/${PROJECT_NAME})
 
+# Python import test
+find_package(Python3 REQUIRED COMPONENTS Interpreter)
+if(Python3_FOUND)
+    add_test(
+        NAME test_python_import
+        COMMAND ${Python3_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/test/test_python_import.py
+    )
+    set_tests_properties(test_python_import PROPERTIES
+        ENVIRONMENT "PYTHONPATH=${CMAKE_INSTALL_PREFIX}/lib/python3.12/site-packages:${CMAKE_INSTALL_PREFIX}/sas_core/lib/python3.12/site-packages"
+    )
+endif()
+
 ament_package()
\ No newline at end of file
diff --git a/test_consumer/test/test_python_import.py b/test_consumer/test/test_python_import.py
new file mode 100644
index 0000000..a372e99
--- /dev/null
+++ b/test_consumer/test/test_python_import.py
@@ -0,0 +1,21 @@
+"""Test that sas_core Python bindings can be imported from a downstream ROS2 package."""
+
+def test_python_imports():
+    """Verify sas_core Python module is importable and usable."""
+    from sas_core import Clock, Statistics, RobotDriver, ShutdownSignaler
+
+    # Verify Clock can be instantiated (requires sampling_time argument)
+    clock = Clock(0.1)
+    assert isinstance(clock, Clock), "Clock(0.1) should return a Clock instance"
+
+    # Verify Statistics, RobotDriver, ShutdownSignaler are importable
+    assert Statistics is not None
+    assert RobotDriver is not None
+    assert ShutdownSignaler is not None
+
+    print("All sas_core Python imports successful from test_consumer!")
+    return True
+
+
+if __name__ == "__main__":
+    test_python_imports()
\ No newline at end of file

From a7cd70da665c0fcac19d77388d394442d3705159 Mon Sep 17 00:00:00 2001
From: openhands <openhands@all-hands.dev>
Date: Sat, 15 Aug 2026 15:46:12 +0000
Subject: [PATCH 5/8] Remove test packages and simplify CMake per best
 practices

- Remove test_consumer/ and standalone_consumer/: temporary validation
  packages no longer needed in the PR
- Simplify cpplib.cmake: use target_sources() instead of inline source
  list (CMake modern convention), remove redundant temporary variables
- Simplify pythonlib.cmake: hardcode module name _sas_core directly,
  clean up install path logic, remove verbose comment blocks
- Simplify root CMakeLists.txt: use foreach(IN ITEMS ...) loop for
  example executables, remove duplicate find_package(Eigen3) (kept in
  cpplib.cmake), remove redundant ament_export_include_directories()
  (target exports already propagate include dirs), clean up section
  headers
- Restore Dockerfile and compose.yml: removed test package references
---
 CMakeLists.txt                                | 60 ++++++-------------
 cmake/cpplib.cmake                            | 37 ++++--------
 cmake/pythonlib.cmake                         | 35 ++++-------
 docker/Dockerfile                             |  5 +-
 docker/compose.yml                            | 12 ----
 standalone_consumer/CMakeLists.txt            | 34 -----------
 .../src/standalone_consumer.cpp               | 32 ----------
 .../test/test_python_import.py                | 17 ------
 test_consumer/CMakeLists.txt                  | 27 ---------
 test_consumer/package.xml                     | 20 -------
 test_consumer/src/test_consumer.cpp           | 24 --------
 test_consumer/test/test_python_import.py      | 21 -------
 12 files changed, 42 insertions(+), 282 deletions(-)
 delete mode 100644 standalone_consumer/CMakeLists.txt
 delete mode 100644 standalone_consumer/src/standalone_consumer.cpp
 delete mode 100644 standalone_consumer/test/test_python_import.py
 delete mode 100644 test_consumer/CMakeLists.txt
 delete mode 100644 test_consumer/package.xml
 delete mode 100644 test_consumer/src/test_consumer.cpp
 delete mode 100644 test_consumer/test/test_python_import.py

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 06c90c8..6431729 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -7,74 +7,50 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
     add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-# Find non-ROS dependencies
-find_package(Eigen3 REQUIRED)
-
-##############################
-# Pure C++ library            #
-##############################
+# ---- Core libraries (always built) ----
 include(cmake/cpplib.cmake)
 
-##############################
-# Python wrapper (pybind11)   #
-##############################
 if(ROS2_BUILD)
     find_package(ament_cmake REQUIRED)
     ament_python_install_package(${PROJECT_NAME})
-    # ament_python_install_package sets PYTHON_INSTALL_DIR — pass it to pythonlib.cmake
     set(_SAS_PYTHON_INSTALL_DIR "${PYTHON_INSTALL_DIR}/${PROJECT_NAME}")
 endif()
+
 include(cmake/pythonlib.cmake)
 
-##############################
-# ROS2 / ament integration    #
-##############################
+# ---- ROS2 / ament integration (conditional) ----
 if(ROS2_BUILD)
-    # INTERFACE alias so external ROS packages can link against `sas_core`.
+    # INTERFACE alias for downstream ROS packages
     add_library(sas_core INTERFACE)
     target_link_libraries(sas_core INTERFACE sas_core_pure)
-    target_include_directories(sas_core INTERFACE
-        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-        $<INSTALL_INTERFACE:include>)
 
     ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
     ament_export_dependencies(Eigen3)
-    ament_export_include_directories(include)
 
-    install(
-        DIRECTORY include/
-        DESTINATION include
-    )
+    install(DIRECTORY include/ DESTINATION include)
 
-    install(
-        TARGETS sas_core sas_core_pure
+    install(TARGETS sas_core sas_core_pure
         EXPORT export_${PROJECT_NAME}
         ARCHIVE DESTINATION lib
         INCLUDES DESTINATION include
     )
 
-    ################################################################################
     # Example executables
-    ################################################################################
-    add_executable(sas_core_example src/examples/sas_core_example.cpp)
-    target_link_libraries(sas_core_example -ldqrobotics sas_core_pure)
-    install(TARGETS sas_core_example DESTINATION lib/${PROJECT_NAME})
-
-    add_executable(sas_clock_example src/examples/sas_clock_example.cpp)
-    target_link_libraries(sas_clock_example sas_core_pure)
-    install(TARGETS sas_clock_example DESTINATION lib/${PROJECT_NAME})
-
-    add_executable(sas_clock_sched_fifo_example src/examples/sas_clock_sched_fifo_example.cpp)
-    target_link_libraries(sas_clock_sched_fifo_example sas_core_pure)
-    install(TARGETS sas_clock_sched_fifo_example DESTINATION lib/${PROJECT_NAME})
-
-    add_executable(sas_robot_driver_example src/examples/sas_robot_driver_example_main.cpp)
+    foreach(_name IN ITEMS sas_core_example sas_clock_example
+        sas_clock_sched_fifo_example)
+        add_executable(${_name} src/examples/${_name}.cpp)
+        target_link_libraries(${_name} sas_core_pure)
+        if(_name STREQUAL "sas_core_example")
+            target_link_libraries(${_name} -ldqrobotics)
+        endif()
+        install(TARGETS ${_name} DESTINATION lib/${PROJECT_NAME})
+    endforeach()
+
+    add_executable(sas_robot_driver_example
+        src/examples/sas_robot_driver_example_main.cpp)
     target_link_libraries(sas_robot_driver_example sas_core_pure)
     install(TARGETS sas_robot_driver_example DESTINATION lib/${PROJECT_NAME})
 
-    ################################################################################
-    # Python executables
-    ################################################################################
     install(PROGRAMS
         scripts/sas_clock_example_py.py
         scripts/sas_robot_driver_subclass_example_py.py
diff --git a/cmake/cpplib.cmake b/cmake/cpplib.cmake
index fb5a7c8..0497114 100644
--- a/cmake/cpplib.cmake
+++ b/cmake/cpplib.cmake
@@ -1,37 +1,24 @@
-# sas_core_pure: the pure C++ library (no ROS2/ament dependencies)
-
+# Build the pure C++ library (no ROS2/ament dependencies)
 find_package(Eigen3 REQUIRED)
 
-# Use CURRENT_LIST_DIR so paths resolve relative to this cmake file
-set(_sas_core_pure_dir "${CMAKE_CURRENT_LIST_DIR}/../src")
-
-set(_sas_core_pure_sources
-    ${_sas_core_pure_dir}/sas_clock.cpp
-    ${_sas_core_pure_dir}/sas_core.cpp
-    ${_sas_core_pure_dir}/sas_object.cpp
-    ${_sas_core_pure_dir}/sas_shutdown_signaler.cpp
-    ${_sas_core_pure_dir}/sas_robot_driver.cpp
-    ${_sas_core_pure_dir}/examples/sas_robot_driver_example.cpp
-    ${_sas_core_pure_dir}/eigen3_std_conversions.cpp
+add_library(sas_core_pure STATIC)
+target_sources(sas_core_pure PRIVATE
+    ${CMAKE_CURRENT_LIST_DIR}/../src/sas_clock.cpp
+    ${CMAKE_CURRENT_LIST_DIR}/../src/sas_core.cpp
+    ${CMAKE_CURRENT_LIST_DIR}/../src/sas_object.cpp
+    ${CMAKE_CURRENT_LIST_DIR}/../src/sas_shutdown_signaler.cpp
+    ${CMAKE_CURRENT_LIST_DIR}/../src/sas_robot_driver.cpp
+    ${CMAKE_CURRENT_LIST_DIR}/../src/examples/sas_robot_driver_example.cpp
+    ${CMAKE_CURRENT_LIST_DIR}/../src/eigen3_std_conversions.cpp
 )
 
-add_library(sas_core_pure STATIC ${_sas_core_pure_sources})
-
 set_target_properties(sas_core_pure PROPERTIES
     POSITION_INDEPENDENT_CODE ON
 )
 
-target_include_directories(sas_core_pure
-    PUBLIC
+target_include_directories(sas_core_pure PUBLIC
     $<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}/../include>
     $<INSTALL_INTERFACE:include>
 )
 
-target_link_libraries(sas_core_pure
-    PUBLIC
-    -ldqrobotics
-    Eigen3::Eigen
-)
-
-unset(_sas_core_pure_dir)
-unset(_sas_core_pure_sources)
\ No newline at end of file
+target_link_libraries(sas_core_pure PUBLIC -ldqrobotics Eigen3::Eigen)
\ No newline at end of file
diff --git a/cmake/pythonlib.cmake b/cmake/pythonlib.cmake
index 3ec24ee..ee1f3dd 100644
--- a/cmake/pythonlib.cmake
+++ b/cmake/pythonlib.cmake
@@ -1,40 +1,27 @@
 # Python wrapper module via pybind11
-
 find_package(Python3 REQUIRED COMPONENTS Development)
 
-# pybind11 import block [BEGIN]
-# vvvvvvvvvvvvvvvvvvvvvvvvvvvvv #
-set(PYBIND11_FINDPYTHON ON) # Fix CMP0148 Warning. https://github.com/pybind/pybind11/issues/4785
-# Provide binary directory for out-of-tree include (e.g. when included from standalone_consumer)
+set(PYBIND11_FINDPYTHON ON)
 add_subdirectory(${CMAKE_CURRENT_LIST_DIR}/../pybind11 ${CMAKE_CURRENT_BINARY_DIR}/pybind11)
-# ^^^^^^^^^^^^^^^^^^^^^^^^^^^ #
-# pybind11 import block [END] #
-
-# Always build the module as _sas_core regardless of the including project's name
-set(_SAS_PY_MODULE_NAME "_sas_core")
 
-pybind11_add_module(${_SAS_PY_MODULE_NAME} SHARED
+pybind11_add_module(_sas_core SHARED
     ${CMAKE_CURRENT_LIST_DIR}/../src/sas_core_py.cpp
     ${CMAKE_CURRENT_LIST_DIR}/../src/sas_robot_driver_py.cpp
 )
 
-target_include_directories(${_SAS_PY_MODULE_NAME}
-  PUBLIC
+target_include_directories(_sas_core PUBLIC
     $<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}/../include>
-    $<INSTALL_INTERFACE:include>)
+    $<INSTALL_INTERFACE:include>
+)
 
-target_compile_definitions(${_SAS_PY_MODULE_NAME} PRIVATE IS_SAS_PYTHON_BUILD)
-target_link_libraries(${_SAS_PY_MODULE_NAME} PRIVATE sas_core_pure -ldqrobotics)
+target_compile_definitions(_sas_core PRIVATE IS_SAS_PYTHON_BUILD)
+target_link_libraries(_sas_core PRIVATE sas_core_pure -ldqrobotics)
 
-# Install path: use _SAS_PYTHON_INSTALL_DIR if set by parent (ROS2/ament),
-# otherwise default to the standard Python site-packages location.
+# Install path: ament PYTHON_INSTALL_DIR if available, else site-packages
 if(DEFINED _SAS_PYTHON_INSTALL_DIR)
-  set(_SAS_PY_INSTALL_DEST "${_SAS_PYTHON_INSTALL_DIR}")
+  set(_SAS_PY_DEST "${_SAS_PYTHON_INSTALL_DIR}")
 else()
-  set(_SAS_PY_INSTALL_DEST "lib/python3/dist-packages/sas_core")
+  set(_SAS_PY_DEST "lib/python3/dist-packages/sas_core")
 endif()
 
-install(TARGETS ${_SAS_PY_MODULE_NAME}
-  DESTINATION "${_SAS_PY_INSTALL_DEST}")
-
-unset(_SAS_PY_MODULE_NAME)
\ No newline at end of file
+install(TARGETS _sas_core DESTINATION "${_SAS_PY_DEST}")
\ No newline at end of file
diff --git a/docker/Dockerfile b/docker/Dockerfile
index 6976156..6cd2542 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -7,7 +7,4 @@ RUN sudo apt-get update && sudo apt-get upgrade -y
 RUN python3 -m pip install --upgrade dqrobotics --break-system-packages
 RUN sudo sudo apt-get remove -y ros-jazzy-sas-core
 RUN mkdir -p /root/sas_core_devel/src/
-COPY . /root/sas_core_devel/src/sas_core
-COPY test_consumer /root/sas_core_devel/src/test_consumer
-# standalone_consumer lives outside the colcon workspace
-COPY standalone_consumer /root/standalone_consumer
\ No newline at end of file
+COPY . /root/sas_core_devel/src/sas_core
\ No newline at end of file
diff --git a/docker/compose.yml b/docker/compose.yml
index b8eaa74..ea4e18c 100644
--- a/docker/compose.yml
+++ b/docker/compose.yml
@@ -16,16 +16,4 @@ services:
       && ros2 run sas_core sas_robot_driver_subclass_example_py.py
       && ros2 run sas_core sas_clock_sched_fifo_example
       && ros2 run sas_core sas_clock_sched_fifo_example_py.py
-      && ros2 run test_consumer test_consumer
-      && echo '--- Running Python import test from test_consumer ---'
-      && python3 test_consumer/test/test_python_import.py
-      && echo '--- Building standalone_consumer (no ROS2) ---'
-      && mkdir -p /root/standalone_build
-      && cd /root/standalone_build
-      && cmake /root/standalone_consumer -DCMAKE_INSTALL_PREFIX=/root/standalone_install
-      && make
-      && /root/standalone_build/standalone_consumer
-      && echo '--- Running Python import test from standalone_consumer ---'
-      && cp /root/standalone_build/_sas_core.*.so /root/sas_core_devel/src/sas_core/sas_core/ 2>/dev/null || true
-      && PYTHONPATH=/root/sas_core_devel/src/sas_core python3 /root/standalone_consumer/test/test_python_import.py
       "
\ No newline at end of file
diff --git a/standalone_consumer/CMakeLists.txt b/standalone_consumer/CMakeLists.txt
deleted file mode 100644
index 18fba8a..0000000
--- a/standalone_consumer/CMakeLists.txt
+++ /dev/null
@@ -1,34 +0,0 @@
-cmake_minimum_required(VERSION 3.8)
-project(standalone_consumer)
-
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-    add_compile_options(-Wall -Wextra -Wpedantic)
-endif()
-
-find_package(Eigen3 REQUIRED)
-
-# Path to the sas_core source tree — required to include cmake modules
-set(SAS_CORE_SOURCE_DIR "/root/sas_core_devel/src/sas_core" CACHE PATH "Path to sas_core source")
-
-# Include sas_core pure C++ and Python library definitions (no ROS2/ament needed)
-include(${SAS_CORE_SOURCE_DIR}/cmake/cpplib.cmake)
-include(${SAS_CORE_SOURCE_DIR}/cmake/pythonlib.cmake)
-
-##############################
-# Standalone C++ consumer     #
-##############################
-add_executable(standalone_consumer src/standalone_consumer.cpp)
-target_link_libraries(standalone_consumer sas_core_pure)
-
-##############################
-# Standalone Python test      #
-##############################
-# The Python test runs as a CTest; it requires the built _sas_core module.
-find_package(Python3 REQUIRED COMPONENTS Interpreter)
-add_test(
-    NAME test_python_import
-    COMMAND ${Python3_EXECUTABLE} test/test_python_import.py
-)
-set_tests_properties(test_python_import PROPERTIES
-    ENVIRONMENT "PYTHONPATH=${CMAKE_BINARY_DIR}:${CMAKE_SOURCE_DIR}/.."
-)
\ No newline at end of file
diff --git a/standalone_consumer/src/standalone_consumer.cpp b/standalone_consumer/src/standalone_consumer.cpp
deleted file mode 100644
index 1301f7a..0000000
--- a/standalone_consumer/src/standalone_consumer.cpp
+++ /dev/null
@@ -1,32 +0,0 @@
-#include <iostream>
-#include <sas_core/sas_core.hpp>
-#include <sas_core/sas_clock.hpp>
-#include <sas_core/sas_shutdown_signaler.hpp>
-
-int main(int argc, char** argv)
-{
-    std::cout << "=== Standalone C++ consumer (no ROS2) ===" << std::endl;
-
-    // Test sas_core namespace is accessible and usable
-    VectorXd a(2);
-    a << 1.0, 2.0;
-
-    VectorXd b(2);
-    b << 3.0, 4.0;
-
-    VectorXd c = sas::concatenate(a, b);
-    std::cout << "concatenate result: " << c.transpose() << std::endl;
-
-    // Test incremental_mean
-    double mean = sas::incremental_mean(1.0, 1, 3.0);
-    std::cout << "incremental_mean(1.0, 1, 3.0) = " << mean << std::endl;
-
-    // Test ShutdownSignaler
-    sas::ShutdownSignaler signaler;
-    signaler.shutdown();
-    bool stopped = signaler.should_shutdown();
-    std::cout << "should_shutdown() = " << stopped << std::endl;
-
-    std::cout << "sas_core_pure imported successfully from standalone_consumer (no ROS2)!" << std::endl;
-    return 0;
-}
\ No newline at end of file
diff --git a/standalone_consumer/test/test_python_import.py b/standalone_consumer/test/test_python_import.py
deleted file mode 100644
index 212ef99..0000000
--- a/standalone_consumer/test/test_python_import.py
+++ /dev/null
@@ -1,17 +0,0 @@
-"""Test that sas_core Python bindings can be imported from a standalone (non-ROS2) CMake project."""
-
-def test_python_imports():
-    from sas_core import Clock, Statistics, RobotDriver, ShutdownSignaler
-
-    clock = Clock(0.1)
-    assert isinstance(clock, Clock)
-    assert Statistics is not None
-    assert RobotDriver is not None
-    assert ShutdownSignaler is not None
-
-    print("All sas_core Python imports successful from standalone_consumer (no ROS2)!")
-    return True
-
-
-if __name__ == "__main__":
-    test_python_imports()
\ No newline at end of file
diff --git a/test_consumer/CMakeLists.txt b/test_consumer/CMakeLists.txt
deleted file mode 100644
index 70cceb5..0000000
--- a/test_consumer/CMakeLists.txt
+++ /dev/null
@@ -1,27 +0,0 @@
-cmake_minimum_required(VERSION 3.8)
-project(test_consumer)
-
-find_package(ament_cmake REQUIRED)
-find_package(sas_core REQUIRED)
-
-# Build a simple executable that links against the sas_core library
-add_executable(test_consumer src/test_consumer.cpp)
-target_link_libraries(test_consumer sas_core::sas_core_pure)
-
-install(TARGETS
-    test_consumer
-    DESTINATION lib/${PROJECT_NAME})
-
-# Python import test
-find_package(Python3 REQUIRED COMPONENTS Interpreter)
-if(Python3_FOUND)
-    add_test(
-        NAME test_python_import
-        COMMAND ${Python3_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/test/test_python_import.py
-    )
-    set_tests_properties(test_python_import PROPERTIES
-        ENVIRONMENT "PYTHONPATH=${CMAKE_INSTALL_PREFIX}/lib/python3.12/site-packages:${CMAKE_INSTALL_PREFIX}/sas_core/lib/python3.12/site-packages"
-    )
-endif()
-
-ament_package()
\ No newline at end of file
diff --git a/test_consumer/package.xml b/test_consumer/package.xml
deleted file mode 100644
index 50cda4b..0000000
--- a/test_consumer/package.xml
+++ /dev/null
@@ -1,20 +0,0 @@
-<?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="3">
-  <name>test_consumer</name>
-  <version>0.0.0</version>
-  <description>Temporary package to test importing sas_core from another ROS2 package</description>
-  <maintainer email="test@test.com">test</maintainer>
-  <license>LGPLv3</license>
-
-  <buildtool_depend>ament_cmake</buildtool_depend>
-  <build_depend>sas_core</build_depend>
-  <exec_depend>sas_core</exec_depend>
-
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
-
-  <export>
-    <build_type>ament_cmake</build_type>
-  </export>
-</package>
\ No newline at end of file
diff --git a/test_consumer/src/test_consumer.cpp b/test_consumer/src/test_consumer.cpp
deleted file mode 100644
index 81f1fbf..0000000
--- a/test_consumer/src/test_consumer.cpp
+++ /dev/null
@@ -1,24 +0,0 @@
-#include <iostream>
-#include <sas_core/sas_core.hpp>
-#include <sas_core/sas_clock.hpp>
-#include <sas_core/sas_shutdown_signaler.hpp>
-
-int main(int argc, char** argv)
-{
-    // Test sas_core namespace is accessible and usable
-    VectorXd a(2);
-    a << 1.0, 2.0;
-
-    VectorXd b(2);
-    b << 3.0, 4.0;
-
-    VectorXd c = sas::concatenate(a, b);
-    std::cout << "concatenate result: " << c.transpose() << std::endl;
-
-    // Test incremental_mean
-    double mean = sas::incremental_mean(1.0, 1, 3.0);
-    std::cout << "incremental_mean(1.0, 1, 3.0) = " << mean << std::endl;
-
-    std::cout << "sas_core imported successfully from test_consumer!" << std::endl;
-    return 0;
-}
\ No newline at end of file
diff --git a/test_consumer/test/test_python_import.py b/test_consumer/test/test_python_import.py
deleted file mode 100644
index a372e99..0000000
--- a/test_consumer/test/test_python_import.py
+++ /dev/null
@@ -1,21 +0,0 @@
-"""Test that sas_core Python bindings can be imported from a downstream ROS2 package."""
-
-def test_python_imports():
-    """Verify sas_core Python module is importable and usable."""
-    from sas_core import Clock, Statistics, RobotDriver, ShutdownSignaler
-
-    # Verify Clock can be instantiated (requires sampling_time argument)
-    clock = Clock(0.1)
-    assert isinstance(clock, Clock), "Clock(0.1) should return a Clock instance"
-
-    # Verify Statistics, RobotDriver, ShutdownSignaler are importable
-    assert Statistics is not None
-    assert RobotDriver is not None
-    assert ShutdownSignaler is not None
-
-    print("All sas_core Python imports successful from test_consumer!")
-    return True
-
-
-if __name__ == "__main__":
-    test_python_imports()
\ No newline at end of file

From c078206e017a1dcf87c9e91213fa480e144eee00 Mon Sep 17 00:00:00 2001
From: openhands <openhands@all-hands.dev>
Date: Sat, 15 Aug 2026 15:52:27 +0000
Subject: [PATCH 6/8] Add FetchContent usage section to README.md

---
 README.md | 26 ++++++++++++++++++++++++++
 1 file changed, 26 insertions(+)

diff --git a/README.md b/README.md
index d300394..a37bb78 100644
--- a/README.md
+++ b/README.md
@@ -35,3 +35,29 @@ ros2 run sas_core sas_clock_sched_fifo_example_py.py
 The `scripts/sas_robot_driver_subclass_example_py.py` file demonstrates how to
 subclass `sas_core.RobotDriver` in Python and contains a minimal working
 example.
+
+## Using as a non-ROS2 dependency (CMake FetchContent)
+
+To include `sas_core_pure` in a plain CMake project (no ROS2/ament required):
+
+```cmake
+include(FetchContent)
+FetchContent_Declare(
+    sas_core
+    GIT_REPOSITORY https://github.com/SmartArmStack/sas_core.git
+    GIT_TAG        <tag-or-branch>
+)
+FetchContent_MakeAvailable(sas_core)
+
+target_link_libraries(your_target PRIVATE sas_core_pure)
+```
+
+Pass `-DROS2_BUILD=OFF` when configuring the project if your toolchain does not
+provide ament:
+
+```bash
+cmake -B build -DROS2_BUILD=OFF
+```
+
+The library depends on **Eigen3** and **dqrobotics**; make sure both are
+available on your system.

From 4658ae40d84b6fa66523beb9e3f37599098687ee Mon Sep 17 00:00:00 2001
From: openhands <openhands@all-hands.dev>
Date: Sat, 15 Aug 2026 15:56:59 +0000
Subject: [PATCH 7/8] Fix FetchContent example: pin jazzy tag and set
 ROS2_BUILD=OFF inline

- Set GIT_TAG to jazzy (the stable branch)
- Move ROS2_BUILD=OFF into the CMake example using set(... CACHE BOOL FORCE)
  so the option is disabled before FetchContent_MakeAvailable, avoiding the
  need for a separate cmake command-line flag
---
 README.md | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/README.md b/README.md
index a37bb78..fa6dada 100644
--- a/README.md
+++ b/README.md
@@ -45,18 +45,18 @@ include(FetchContent)
 FetchContent_Declare(
     sas_core
     GIT_REPOSITORY https://github.com/SmartArmStack/sas_core.git
-    GIT_TAG        <tag-or-branch>
+    GIT_TAG        jazzy
 )
 FetchContent_MakeAvailable(sas_core)
 
 target_link_libraries(your_target PRIVATE sas_core_pure)
 ```
 
-Pass `-DROS2_BUILD=OFF` when configuring the project if your toolchain does not
-provide ament:
+The `ROS2_BUILD` option defaults to `ON`. Disable it before calling
+`FetchContent_MakeAvailable` if your toolchain does not provide ament:
 
-```bash
-cmake -B build -DROS2_BUILD=OFF
+```cmake
+set(ROS2_BUILD OFF CACHE BOOL "" FORCE)
 ```
 
 The library depends on **Eigen3** and **dqrobotics**; make sure both are

From d682aa85e06a65f7cdd7cb106c6a4b4bf0d9c81c Mon Sep 17 00:00:00 2001
From: Murilo M Marinho <46012516+mmmarinho@users.noreply.github.com>
Date: Sat, 15 Aug 2026 16:58:56 +0100
Subject: [PATCH 8/8] [README.md] Make it clearer how to import using fetch.

---
 README.md | 46 +++++++++++++++++++++-------------------------
 1 file changed, 21 insertions(+), 25 deletions(-)

diff --git a/README.md b/README.md
index fa6dada..e549058 100644
--- a/README.md
+++ b/README.md
@@ -11,6 +11,27 @@
 - `scripts/` — example Python scripts.
 - `src/examples/` — C++ example programs and test nodes.
 
+## Using as a non-ROS2 dependency (CMake FetchContent)
+
+To include `sas_core_pure` in a plain CMake project (no ROS2/ament required):
+
+```cmake
+include(FetchContent)
+FetchContent_Declare(
+    sas_core
+    GIT_REPOSITORY https://github.com/SmartArmStack/sas_core.git
+    GIT_TAG        jazzy
+)
+
+set(ROS2_BUILD OFF CACHE BOOL "" FORCE)
+FetchContent_MakeAvailable(sas_core)
+
+target_link_libraries(your_target PRIVATE sas_core_pure)
+```
+
+The library depends on **Eigen3** and **dqrobotics**; make sure both are
+available on your system.
+
 ## Examples
 
 Testing on a docker container.
@@ -36,28 +57,3 @@ The `scripts/sas_robot_driver_subclass_example_py.py` file demonstrates how to
 subclass `sas_core.RobotDriver` in Python and contains a minimal working
 example.
 
-## Using as a non-ROS2 dependency (CMake FetchContent)
-
-To include `sas_core_pure` in a plain CMake project (no ROS2/ament required):
-
-```cmake
-include(FetchContent)
-FetchContent_Declare(
-    sas_core
-    GIT_REPOSITORY https://github.com/SmartArmStack/sas_core.git
-    GIT_TAG        jazzy
-)
-FetchContent_MakeAvailable(sas_core)
-
-target_link_libraries(your_target PRIVATE sas_core_pure)
-```
-
-The `ROS2_BUILD` option defaults to `ON`. Disable it before calling
-`FetchContent_MakeAvailable` if your toolchain does not provide ament:
-
-```cmake
-set(ROS2_BUILD OFF CACHE BOOL "" FORCE)
-```
-
-The library depends on **Eigen3** and **dqrobotics**; make sure both are
-available on your system.