The SmartArmStack (sas) has been developed (with this name) in support of the SmartArm robot described in http://doi.org/10.1002/rcs.2053,
at the University of Tokyo.
It has then been used in dozens of projects and updated in http://doi.org/10.1109/MRA.2023.3336472 for the AI Science Platform. Please cite one
of these references if you use sas in your own work.
::::{grid} 1 1 2 3
:::{card}
:header: Focus on your application🔍
sas is a C++ framework with Python bindings to enable fast prototyping using ROS 2 toolchain.
:::
:::{card}
:header: ROS 2 where it shines✨
Split away ROS 2 code into client and server classes, communicate via ROS 2 without ROS 2 code.
:::
:::{card}
:header: 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 run -it murilomarinho/sas:jazzy
:class: dropdown
#### 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++
:::{important}
The `development` version is needed.
:::
:::commandline
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
:::{important}
Because `ROS 2` does not currently support `venv`, it is recommended
to install this system-wide.
:::
:::commandline
python3 -m pip install dqrobotics --pre --break-system-packages
:::
:::{tip}
The LGPL packages are available in amd64 and arm64.
:::
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-*:class: dropdown
### Click here for the LGPL packages information
Copyright (C) 2025 Murilo M. Marinho.
| 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 |
:::{tip}
The CC BY-NC 4.0 packages are currently only available in amd64 owing to GitHub limitations in private repositories.
:::
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-*:class: dropdown
### Click here for the CC BY-NC 4.0 packages information
Copyright (C) 2025 Murilo M. Marinho. Licensed under CC BY-NC 4.0 for noncommercial use.
Commercial licensing available by contacting contact@uominnovationfactory.com.
| 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. |
After installing the packages with the command above, you can update them with
:::bash sudo apt-get update && sudo apt-get upgrade ros-jazzy-sas-* :::
:label: sas_and_ros2
:width: 300px
:align: left
SAS and ROS2
sas has worked in a dual-licensing scheme, described in the dropdown boxes below.
Please refer to https://ros2-tutorial.readthedocs.io/en/latest/sas/index.html.
:label: sas_dependencies
:width: 300px
:align: left
SAS Dependencies
The main dependencies to note are ROS2 described https://doi.org/10.1126/scirobotics.abm6074, DQ Robotics described in http://doi.org/10.1109/MRA.2020.2997920, eigen3, and pybind11.
Packaging was made possible by instructive resources such as Hosting your own PPA repository on GitHub.