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 and callbacks, register custom ROS messages, and opt into API streaming modes and the shared-memory fast path.
Inject post-processors on callbacks and pre-processors on publishers for data transformation.
Adapt recipes to specific hardware: transports, feedback and command mapping, actions and events, driver processes, sensor mounts and mapping.
Register custom input forms and output visualizations in the web UI, and understand what the JSON/WebSocket API serves for new data types.
Running the suite, and testing components, events, fallbacks, plugins and recipes with pytest and launch_testing.
Reference#
Live reconfiguration services: topic replacement, parameter updates, and file-based configuration.
Convert Sugarcoat recipes into systemd services for production deployment.