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_kinematics	LGPL	ROS2 nodes and libraries for creating servers and clients for kinematic-level robot task-space monitoring and control.
sas_robot_driver_denso	LGPL	A sas_robot_driver implementation for DensoWave's bCap controlled robots
sas_robot_driver_kuka	LGPL	A sas_robot_driver implementation for Kuka (Sunrise cabinet, FRI)
sas_robot_driver_ur	LGPL	A sas_robot_driver implementation for UR

Prerequisites

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

sudo add-apt-repository ppa:dqrobotics-dev/development
sudo apt-get update
sudo apt-get install libdqrobotics libdqrobotics-interface-json11 libdqrobotics-interface-coppeliasim libdqrobotics-interface-coppeliasim-zmq

3. DQ Robotics Python (pre-release)

python3 -m pip install dqrobotics --pre

It is important to update the Python version to 4.7.0-2 if the interface is going to be used in Python.

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

then

echo "source ~/ros2_ws/install/setup.bash" >> ~/.bashrc

Every build

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

Opening a package on QTCreator

1. First, be sure that the environment has been compiled and sourced as shown in the last step.

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.