Added python bindings for sas_robot_driver_ros

Author: Murilo Marinho

sas_robot_driver/__init__.py

@@ -22,4 +22,4 @@
 #
 # ################################################################
 """
-from sas_robot_driver._sas_robot_driver import RobotDriverServer, RobotDriverClient, Functionality
+from sas_robot_driver._sas_robot_driver import RobotDriverServer, RobotDriverClient, Functionality, RobotDriverROS

src/sas_robot_driver_py.cpp

@@ -30,10 +30,12 @@
 #include <sas_core/sas_robot_driver.hpp>
 #include <sas_robot_driver/sas_robot_driver_client.hpp>
 #include <sas_robot_driver/sas_robot_driver_server.hpp>
+#include <sas_robot_driver/sas_robot_driver_ros.hpp>
 
 namespace py = pybind11;
 using RDC = sas::RobotDriverClient;
 using RDS = sas::RobotDriverServer;
+using RDR = sas::RobotDriverROS;
 
 PYBIND11_MODULE(_sas_robot_driver, m) {
 
@@ -77,4 +79,11 @@ PYBIND11_MODULE(_sas_robot_driver, m) {
             .def("send_joint_limits",&RDS::send_joint_limits)
             .def("send_home_state",&RDS::send_home_state);
 
+    py::class_<RDR>(m, "RobotDriverROS")
+        .def(py::init<std::shared_ptr<rclcpp::Node>&,
+                      const std::shared_ptr<sas::RobotDriver>&,
+                      const sas::RobotDriverROSConfiguration&,
+                      const std::shared_ptr<sas::ShutdownSignaler>&>())
+        .def("control_loop", &RDR::control_loop);
+
 }

src/sas_robot_driver_ros.cpp

@@ -72,7 +72,7 @@ RobotDriverROS::RobotDriverROS(std::shared_ptr<Node> &node,
     node_(node),
     configuration_(configuration),
     kill_this_node_(nullptr),
-    shutdown_signaler_(shutdown_signaler)
+    shutdown_signaler_(shutdown_signaler),
     robot_driver_(robot_driver),
     clock_(configuration.thread_sampling_time_sec),
     robot_driver_server_(node,configuration_.robot_driver_provider_prefix),
@@ -188,7 +188,7 @@ int RobotDriverROS::control_loop()
 
 bool RobotDriverROS::_should_shutdown() const
 {
-    return shutdown_signaler_.should_shutdown();
+    return shutdown_signaler_->should_shutdown();
 }