SAS is a C++ framework with Python bindings to enable fast robot prototyping on ROS2, so that you are free to focus on your application. The concept of SAS is to split away ROS2 code into pairing client and server classes, so that you do not need to create, for instance, publishers or subscribers manually.

docker run murilomarinho/sas_ros_jazzy:latest

Please help document at https://ros2-tutorial.readthedocs.io/en/latest/sas/index.html

Please refer to each repository for the license.

• For LGPL licensed code refer to the GNU.org information.
• For the NonCommercial packages before and including Dec 2023 a license is required to use them for commercial purposes. This must be done via TODAI TLO.
• NonCommercial packages from Dec 2023 are not currently available, but they will not be covered by TODAI TLO.

The ROS2 version of these repositories tagged from January 2024 onwards are related to Murilo Marinho's work at the University of Manchester. For these there is no tying publication (yet) so please cite RAM'24.

The ROS1 version of these repositories can be attributed to Murilo Marinho's work at the University of Tokyo until December 2023. They are described in the following publications.

A version using ROS1 circa 2023 is described in RAM'24.

@Article{aiscienceplatform2024,
 author = {Marques Marinho, Murilo and Quiroz-Oma\~na, Juan Jos\'e and Harada, Kanako},
 title = {A Multi-Arm Robotic Platform for Scientific Exploration},
 journal = {IEEE Robotics and Automation Magazine (RAM)},
 doi = {10.1109/MRA.2023.3336472},
 url = {https://arxiv.org/abs/2210.11877},
 year = {2024}
 } 

The initial version of the software circa 2019 is described in this publication.

@Article{marinho2020integration,
  author       = {Marinho, Murilo M and Harada, Kanako and Morita, Akio and Mitsuishi, Mamoru},
  title        = {SmartArm: Integration and Validation of a Versatile Surgical Robotic System for Constrained Workspaces},
  journal      = {The International Journal of Medical Robotics and Computer Assisted Surgery (IJMRCAS)},
  year         = {2020},
  month        = apr,
  volume       = {16},
  number       = {2},
  pages        = {e2053},
  custom_type  = {1. Journal Paper},
  doi          = {10.1002/rcs.2053},
  note         = {Top Cited Article 2020-2021.},
}