SAS Website

The SmartArmStack (sas) has been developed (with this name) in support of the SmartArm robot described in Marinho et al. (2020), at the University of Tokyo. It has then been used in dozens of projects and updated in Marinho et al. (2024) for the AI Science Platform. Please cite one of these references if you use sas in your own work.

Focus on your application🔍

sas is a C++ framework with Python bindings to enable fast prototyping using ROS 2 toolchain.

ROS 2 where it shines✨

Split away ROS 2 code into client and server classes, communicate via ROS 2 without ROS 2 code.

Multiple robots🤖

Enjoy drivers for DensoWave, UR, and KUKA. With ongoing developments for Franka Emika and Unitree robots.

Please note that sas is originally based on developments circa 2013 by Murilo M. Marinho. Affiliation with the University of Tokyo has ceased on December 2023 and this project is currently affiliated with the University of Manchester.

Docker¶

docker run -it murilomarinho/sas:jazzy

Installation¶

Pre-requisites¶

Click here for the pre-requisites

ROS 2 Jazzy¶

You can refer to the official documentation at https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debs.html
A softer explanation is available in https://ros2-tutorial.readthedocs.io/en/latest/installation.html.

DQ Robotics Development Version¶

C++¶

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

Python¶

python3 -m pip install dqrobotics --pre --break-system-packages

LGPL Packages¶

The command below will add and install the sas LGPL packages via apt-get.

curl -s --compressed "https://smartarmstack.github.io/smart_arm_stack_ROS2/KEY.gpg" \
| gpg --dearmor \
| sudo tee /etc/apt/trusted.gpg.d/smartarmstack_lgpl.gpg >/dev/null
sudo curl -s --compressed -o /etc/apt/sources.list.d/smartarmstack_lgpl.list \
"https://smartarmstack.github.io/smart_arm_stack_ROS2/smartarmstack_lgpl.list"
sudo apt update
sudo apt-get install ros-jazzy-sas-*

Click here for the LGPL packages information

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

CC BY-NC 4.0 Packages¶

The command below will add and install the sas CC BY-NC 4.0 packages via apt-get. Please note that they depend on sas LGPL packages.

curl -s --compressed "https://marinholab.github.io/sas_debian_builder_noncommercial/KEY.gpg" \
| gpg --dearmor \
| sudo tee /etc/apt/trusted.gpg.d/smartarmstack_cc_by_nc.gpg >/dev/null
sudo curl -s --compressed -o /etc/apt/sources.list.d/smartarmstack_cc_by_nc.list \
"https://marinholab.github.io/sas_debian_builder_noncommercial/smartarmstack_cc_by_nc.list"
sudo apt update
sudo apt-get install ros-jazzy-sas-*

Click here for the CC BY-NC 4.0 packages information

Package	License	Description
`sas_operator_side_receiver`	CC BY-NC 4.0	Receive messages from master devices and expose them as topics in `ROS2`.
`sas_patient_side_manager`	CC BY-NC 4.0	Manage master devices controlling `sas_robot_kinematics` and clutch state space.
`sas_robot_kinematics_constrained_multiarm`	CC BY-NC 4.0	A centralised solver for multiple robots with configurable vector-field inequalities.

Updates¶

After installing the packages with the command above, you can update them with

sudo apt-get update && sudo apt-get upgrade ros-jazzy-sas-*

License¶

sas has worked in a dual-licensing scheme, described in the dropdown boxes below.

Tutorials¶

Please refer to https://ros2-tutorial.readthedocs.io/en/latest/sas/index.html.

Packaging¶

LGPL¶

The PPA for the LGPL version is available at https://smartarmstack.github.io/smart_arm_stack_ROS2/. The archive is available at https://github.com/SmartArmStack/smart_arm_stack_ROS2/releases in case you need to rely on older versions.

CC BY-NC 4.0¶

The PPA for the CC BY-NC 4.0 version is available at https://marinholab.github.io/sas_debian_builder_noncommercial/. The archive is currently private.

Older (and unsupported) versions

Acknowledgements¶

The main dependencies to note are ROS2 described Macenski et al. (2022), DQ Robotics described in Adorno & Marques Marinho (2021), eigen3, and pybind11.

Packaging was made possible by instructive resources such as Hosting your own PPA repository on GitHub.

References¶

Marinho, M. M., Harada, K., Morita, A., & Mitsuishi, M. (2020). SmartArm: Integration and validation of a versatile surgical robotic system for constrained workspaces. The International Journal of Medical Robotics and Computer Assisted Surgery, 16(2). 10.1002/rcs.2053
Marinho, M. M., Quiroz-Omaña, J. J., & Harada, K. (2024). A Multiarm Robotic Platform for Scientific Exploration: Its Design, Digital Twins, and Validation. IEEE Robotics & Automation Magazine, 31(4), 10–20. 10.1109/mra.2023.3336472
Macenski, S., Foote, T., Gerkey, B., Lalancette, C., & Woodall, W. (2022). Robot Operating System 2: Design, architecture, and uses in the wild. Science Robotics, 7(66). 10.1126/scirobotics.abm6074
Adorno, B. V., & Marques Marinho, M. (2021). DQ Robotics: A Library for Robot Modeling and Control. IEEE Robotics & Automation Magazine, 28(3), 102–116. 10.1109/mra.2020.2997920

Modules

SAS UR Control Template