Sugarcoat
Sugarcoat Developer Docs¶
Sugarcoat is the orchestration layer of the EMOS ecosystem. It provides the foundational abstractions (components, events, actions, and the launcher) that power EmbodiedAgents and Kompass.
This site contains developer documentation for contributors and package authors building on top of Sugarcoat.
Looking for usage documentation?
Tutorials, installation guides, and usage documentation are on the EMOS Documentation site.
Understand the Framework¶
Core module structure, component lifecycle, Monitor orchestration, Launcher process graph, and I/O system.
Condition trees, event patterns, action dispatch, fallback hierarchy, and Monitor evaluation loop.
Extend & Integrate¶
Subclass BaseComponent with lifecycle hooks, run types, I/O validation, and custom actions.
Add new SupportedType wrappers, callbacks, and type registration for custom ROS messages.
Inject post-processors on callbacks and pre-processors on publishers for data transformation.
Map generic topics to robot-specific interfaces with custom types and service clients.
Register custom input forms and output visualizations in the web UI for new data types.
Unit and integration testing for components, events, actions, and fallbacks.
Reference¶
Live reconfiguration services: topic replacement, parameter updates, and file-based configuration.
Convert Sugarcoat recipes into systemd services for production deployment.