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Murilo Marinho
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Adding devel scripts
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‎.devel/README.md‎

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# MacOS Setup
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Because these are system-level packages, `brew install` isn't enough.
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- Install docker desktop from
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https://www.docker.com/products/docker-desktop/
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- Open and login
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```commandline
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docker buildx build -t sas_deb_builder --platform=linux/amd64 sas_deb_builder
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```
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## Failed attempts
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With brew, I was either unable to login or got the error below. After installing from docker desktop the version
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was clearly different so that might have been the issue.
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```commandline
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Error response from daemon: Get "https://registry-1.docker.io/v2/": rejecting registry-1.docker.io:443 because traffic from evaluating PAC file: getting PAC interpreter: Get "http://wpad/wpad.dat": dial tcp: lookup wpad: no such host
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```
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```commandline
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brew install --cask docker
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brew install --cask xquartz
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```
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‎.devel/build_ros2.sh‎

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#!/bin/bash
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# Copyright (c) Murilo M. Marinho (www.murilomarinho.info)
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set -e
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####################################################################
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# Helper functions and parameters
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####################################################################
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# Change this to define the number of parallel jobs for this builder
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export DEB_BUILD_OPTIONS=parallel=4
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# ROS2 version
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rosv="jazzy"
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# Ubuntu version
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ubuntuv="noble"
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# Architecture
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archname="amd64"
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PRE_BUILD() {
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# Remove the debian folder just in case. In ROS1 and catkin this was an issue
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rm -rf debian
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# Use the --all just in case, otherwise it returns with an error if there are multiple commits without a changelog
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# wow, with the --all it also complains if the package already has a changelog. Nice, thanks a lot
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catkin_generate_changelog --all || true
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catkin_generate_changelog || true
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# If we don't commit the modified CHANGELOG.rst, the catkin_prepare_release doesn't shut up about it
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git add CHANGELOG.rst
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git commit -a -m "Shut up catkin"
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# Apparently this doesn't work for python-only packages, but we not care cause we cmake boyz
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catkin_prepare_release --no-push -y --version "$VERSION"
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# Automagically create the debian packagking directives
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bloom-generate rosdebian --os-name ubuntu --os-version "$ubuntuv" --ros-distro "rosv"
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}
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BUILD_DEB(){
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# Parallel builds
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sed -i -e 's/dh $@/dh $@ --parallel/g' debian/rules
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# A hack so that shlibdeps does not complain about qpOases not being a ubuntu package. Well, it is being installed purely using CMAKE.
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# This might create other problems, but for now we worry about being able build the package at all.
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sed -i -e 's/dh_shlibdeps /dh_shlibdeps --dpkg-shlibdeps-params=--ignore-missing-info /g' debian/rules
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fakeroot debian/rules binary
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}
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####################################################################
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# Array of packages
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####################################################################
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pkg_array=(
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"sas_core"
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"sas_msgs"
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"sas_common"
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"sas_conversions"
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"sas_datalogger"
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"sas_robot_driver"
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"sas_robot_kinematics"
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)
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####################################################################
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# Create tmp folder
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####################################################################
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rm -rf tmp_ros2
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mkdir tmp_ros2
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cd tmp_ros2
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####################################################################
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# Clone all packages
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####################################################################
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#Example "git@github.com:SmartArmStack/sas_core.git"
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for pkg_name in "${pkg_array[@]}"; do
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echo "Cloning ${pkg_name}"
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git clone -b "$rosv" git@github.com:SmartArmStack/"$pkg_name".git --recurse-submodules
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done
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####################################################################
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# Define version number
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####################################################################
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# Remove any leading zeros otherwise the version name will not fit the bloom requirements
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# https://unix.stackexchange.com/questions/79371/removing-leading-zeros-from-date-output
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VERSION=$(date +"%-y.%-m.%-d%H%M%S")
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####################################################################
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# Remove current installation
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####################################################################
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# Remove all related packages. The || true is so that it doesn't annoy us when something wasn't installed to begin with.
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sudo apt remove ros-"$rosv"-sas* -y || true
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####################################################################
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# Build and install incrementally
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####################################################################
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for pkg_name in "${pkg_array[@]}"; do
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echo "Building ${pkg_name}"
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cd "$pkg_name"
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PRE_BUILD
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BUILD_DEB
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cd ..
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# Install package but replace _ by -. E.g. sas_core becomes sas-core.
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# https://stackoverflow.com/questions/3306007/replace-a-string-in-shell-script-using-a-variable
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sudo dpkg -i ros-"$rosv"-"${pkg_name//_/-}"_*"$ubuntuv"_"$archname".deb
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${var//12345678/$replace}
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done

‎.devel/run_container.sh‎

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#!/bin/bash
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# Based on juanjqo's https://github.com/Adorno-Lab/docker_recipes/blob/main/run_container.sh
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echo "Running container:" $1
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# Argument validation check
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if [ $# -eq 0 ]; then
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echo "Error: No arguments provided."
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echo "Example: sh run_container.sh ubuntu_24_dqrobotics"
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exit 1
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fi
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#/opt/X11/bin/xhost +local:root
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#xhost +local:root
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docker run -it --name=$1 \
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--rm --privileged --network=host --env=DISPLAY --platform=linux/amd64 \
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$1 /bin/bash

‎.devel/sas_deb_builder/Dockerfile‎

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# From juanjo's dqrobotics_ros_jazzy
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FROM juanjqo/ubuntu_24_dqrobotics
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ARG ROS_DOMAIN_ID=1
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ENV ROS_DOMAIN_ID=$ROS_DOMAIN_ID
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SHELL ["/bin/bash", "-c"]
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ENV BASH_ENV="/etc/bash_env"
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# INSTALL ROS2 JAZZY
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## This script is part of the repository cloned in juanjqo/ubuntu_24_dqrobotics
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RUN chmod +x ~/git/docker_recipes/dependencies/install_ros_jazzy.sh
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RUN bash -c '~/git/docker_recipes/dependencies/install_ros_jazzy.sh'
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# ROS DOMAIN SETUP
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RUN echo "export ROS_DOMAIN_ID=$ROS_DOMAIN_ID" >> ~/.bashrc
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# SAS-RELATED THINGS
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RUN mkdir -p ~/sas_ws/src
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RUN cd ~/sas_ws/src
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RUN git clone --recurse-submodules -b jazzy https://github.com/SmartArmStack/smart_arm_stack_ROS2.git sas

‎README.md‎

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*Research only* packages cannot be used for commercial use.
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| Package | License | Description |
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|--------------------------------------------|---------------|-------------------------------------------------------------------------------------------------------------------------------|
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| `sas_core` | LGPL | The part of the library that does not depend on `ROS2`. |
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| `sas_common` | LGPL | Generic `ROS2` code used throughout the packages. |
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| `sas_msgs` | LGPL | A wrapper for `ROS` messages that were made redundant in `ROS2`. |
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| `sas_conversions` | LGPL | Convert `ROS2` messages into `float`, `int`, or `dqrobotics` elements. |
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| `sas_robot_driver` | LGPL | `ROS2` nodes and libraries for creating servers and clients for robot configuration-space monitoring and control. |
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| `sas_robot_kinematics` | LGPL | `ROS2` nodes and libraries for creating servers and clients for kinematic-level robot task-space monitoring and control. |
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| `sas_robot_driver_denso` | LGPL | A `sas_robot_driver` implementation for DensoWave's bCap controlled robots |
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| `sas_robot_driver_kuka` | LGPL | A `sas_robot_driver` implementation for Kuka (Sunrise cabinet, FRI) |
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| `sas_robot_driver_ur` | LGPL | A `sas_robot_driver` implementation for UR |
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| Package | License | Description |
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|--------------------------|---------|--------------------------------------------------------------------------------------------------------------------------|
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| `sas_core` | LGPL | The part of the library that does not depend on `ROS2`. |
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| `sas_common` | LGPL | Generic `ROS2` code used throughout the packages. |
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| `sas_msgs` | LGPL | A wrapper for `ROS` messages that were made redundant in `ROS2`. |
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| `sas_conversions` | LGPL | Convert `ROS2` messages into `float`, `int`, or `dqrobotics` elements. |
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| `sas_robot_driver` | LGPL | `ROS2` nodes and libraries for creating servers and clients for robot configuration-space monitoring and control. |
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| `sas_robot_kinematics` | LGPL | `ROS2` nodes and libraries for creating servers and clients for kinematic-level robot task-space monitoring and control. |
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| `sas_robot_driver_denso` | LGPL | A `sas_robot_driver` implementation for DensoWave's bCap controlled robots |
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| `sas_robot_driver_kuka` | LGPL | A `sas_robot_driver` implementation for Kuka (Sunrise cabinet, FRI) |
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| `sas_robot_driver_ur` | LGPL | A `sas_robot_driver` implementation for UR |
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# Prerequisites

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