SAS Website

A quick note¶

If being read on GitHub, please note that this page is better seen at https://smartarmstack.github.io.

Quickstart¶

Docker¶

You can explore a readily-made image as follows

docker run -it murilomarinho/sas_ros_jazzy:latest

Installation¶

The command below will add and install the sas 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-*

Update¶

After installing, you’ll be able to update normally with apt-get.

sudo apt-get update

Overview¶

The SmartArmStack has been developed in support of the SmartArm robot described in Marinho et al. (2020). It has then been used in dozens of publications and updated in Marinho et al. (2024). Please cite one of these references if you use SAS in your own work.

The current version of SAS supports ROS 2.

About¶

SAS is a C++ framework with Python bindings to enable fast prototyping on ROS 2. Focus on your application. The concept of SAS is to split away ROS 2 code into client and server classes, allowing your code to use ROS 2 interfaces without any need to create publishers or subscribers manually.

License¶

Most of the library is licensed in LGPLv3. Some packages are licensed as Research Only, with no commercial use allowed.

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

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.

Older versions¶

Older (and unsupported) versions are available at:

Acknowledgements¶

The main dependencies to note are ros2, dqrobotics, eigen3, and pybind11.

Packaging was made possible by intructive 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

SAS

Installation