[sas_object_client] Adding test node.

Author: Murilo Marinho

CMakeLists.txt

@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.8)
 project(sas_common)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-    add_compile_options(-Wall -Wextra -Wpedantic)
+    add_compile_options(-Wall -Wextra -Wpedantic -fPIC)
 endif()
 
 set(PYBIND11_FINDPYTHON ON) # Fix CMP0148 Warning. https://github.com/pybind/pybind11/issues/4785
@@ -108,6 +108,37 @@ unset(RCLCPP_LOCAL_BINARY_NAME)
 # CPP Binary Block [END] #
 ##########################
 
+############################
+# CPP Binary Block [BEGIN] #
+# vvvvvvvvvvvvvvvvvvvvvvvv #
+# https://ros2-tutorial.readthedocs.io/en/latest/
+# While we cant use blocks https://cmake.org/cmake/help/latest/command/block.html#command:block
+# we use set--unset
+set(RCLCPP_LOCAL_BINARY_NAME sas_object_test_node)
+
+add_executable(${RCLCPP_LOCAL_BINARY_NAME}
+        src/examples/sas_object_test_node.cpp
+)
+
+ament_target_dependencies(${RCLCPP_LOCAL_BINARY_NAME} PUBLIC
+        rclcpp)
+
+target_link_libraries(${RCLCPP_LOCAL_BINARY_NAME} PUBLIC
+        ${PROJECT_NAME}
+)
+
+target_include_directories(${RCLCPP_LOCAL_BINARY_NAME} PUBLIC
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+        $<INSTALL_INTERFACE:include>)
+
+install(TARGETS ${RCLCPP_LOCAL_BINARY_NAME}
+        DESTINATION lib/${PROJECT_NAME})
+
+unset(RCLCPP_LOCAL_BINARY_NAME)
+# ^^^^^^^^^^^^^^^^^^^^^^ #
+# CPP Binary Block [END] #
+##########################
+
 ##### LAUNCH FILES #####
 
 install(DIRECTORY

docker/Dockerfile

@@ -4,5 +4,5 @@ SHELL ["/bin/bash", "-c"]
 ENV BASH_ENV="/etc/bash_env"
 
 RUN sudo apt-get update && sudo apt-get upgrade -y
-RUN sudo sudo dpkg -r --force-depends ros-jazzy-sas-common
+RUN sudo sudo apt-get remove -y ros-jazzy-sas-common
 RUN mkdir -p /root/sas_common_devel/src/

docker/compose.yml

@@ -8,4 +8,5 @@ services:
       && ls .
       && colcon build
       && source install/setup.bash
-      && ros2 launch sas_common sas_common_ros2_parameter_test_launch.py"
+      && ros2 launch sas_common sas_common_ros2_parameter_test_launch.py
+      && ros2 run sas_common sas_object_test_node"

src/examples/sas_common_ros2_parameter_test_node.cpp

@@ -1,9 +1,9 @@
 /*
-# Copyright (c) 2016-2022 Murilo Marques Marinodeo
+# Copyright (c) 2016-2026 Murilo Marques Marinodeo
 #
 #    This file is part of sas_common.
 #
-#    sas_robot_driver is free software: you can redistribute it and/or modify
+#    sas_common is free software: you can redistribute it and/or modify
 #    it under the terms of the GNU Lesser General Public License as published by
 #    the Free Software Foundation, either version 3 of the License, or
 #    (at your option) any later version.
@@ -60,7 +60,7 @@ int main(int argc, char** argv)
     }
 
     rclcpp::init(argc,argv,rclcpp::InitOptions(),rclcpp::SignalHandlerOptions::None);
-    auto node = std::make_shared<rclcpp::Node>("sas_robot_driver_ros_composer_node");
+    auto node = std::make_shared<rclcpp::Node>("sas_common_ros2_parameter_test_node");
 
     try
     {

src/examples/sas_object_test_node.cpp

@@ -0,0 +1,57 @@
+/*
+# Copyright (c) 2026 Murilo Marques Marinodeo
+#
+#    This file is part of sas_common.
+#
+#    sas_common is free software: you can redistribute it and/or modify
+#    it under the terms of the GNU Lesser General Public License as published by
+#    the Free Software Foundation, either version 3 of the License, or
+#    (at your option) any later version.
+#
+#    sas_common is distributed in the hope that it will be useful,
+#    but WITHOUT ANY WARRANTY; without even the implied warranty of
+#    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+#    GNU Lesser General Public License for more details.
+#
+#    You should have received a copy of the GNU Lesser General Public License
+#    along with sas_common.  If not, see <https://www.gnu.org/licenses/>.
+#
+# ################################################################
+#
+#   Author: Murilo M. Marinho, email: murilomarinodeo@ieee.org
+#
+# ################################################################*/
+#include <exception>
+#include <rclcpp/rclcpp.hpp>
+#include <sas_common/sas_object_client.hpp>
+
+#include<signal.h>
+static std::atomic_bool kill_this_process(false);
+void sig_int_handler(int)
+{
+    kill_this_process = true;
+}
+
+
+int main(int argc, char** argv)
+{
+    if(signal(SIGINT, sig_int_handler) == SIG_ERR)
+    {
+        throw std::runtime_error("::Error setting the signal int handler.");
+    }
+
+    rclcpp::init(argc,argv,rclcpp::InitOptions(),rclcpp::SignalHandlerOptions::None);
+    auto node = std::make_shared<rclcpp::Node>("sas_object_test_node");
+
+    try
+    {
+        auto object_client = sas::ObjectClient(node);
+    }
+    catch (const std::exception& e)
+    {
+        RCLCPP_ERROR_STREAM_ONCE(node->get_logger(),"::Exception::" << e.what());
+    }
+
+
+    return 0;
+}

src/sas_object_client.cpp

@@ -48,7 +48,7 @@ ObjectClient::ObjectClient(const std::shared_ptr<Node> &node,
     topic_prefix_(topic_prefix == "GET_FROM_NODE"? node->get_name() : topic_prefix),
     pose_(0)
 {
-    RCLCPP_INFO_STREAM(node_->get_logger(),"::Initializing ObjectClient with prefix " + topic_prefix);
+    RCLCPP_INFO_STREAM(node_->get_logger(),"::Initializing ObjectClient with prefix " + topic_prefix_);
 
     publisher_pose_ = node->create_publisher<geometry_msgs::msg::PoseStamped>(topic_prefix + "/set/pose",1);