Part of the [EMOS](https://github.com/automatika-robotics/emos) ecosystem [](https://opensource.org/licenses/MIT) [](https://www.python.org/downloads/) [](https://docs.ros.org/en/humble/index.html) [](https://discord.gg/B9ZU6qjzND) **The orchestration layer for event-driven ROS 2 systems** [**EMOS Documentation**](https://emos.automatikarobotics.com) | [**Developer Docs**](https://sugarcoat.automatikarobotics.com) | [**Discord**](https://discord.gg/B9ZU6qjzND)

What is Sugarcoat?

Sugarcoat is the orchestration layer of the EMOS (Embodied Operating System) ecosystem by Automatika Robotics. It is a meta-framework that replaces fragmented ROS2 development with a unified workflow, providing a high-level Python API to build robust lifecycle-managed components and orchestrate them into cohesive, self-healing systems using an event-driven architecture.

For full documentation, tutorials, and recipes, visit emos.automatikarobotics.com.

Key Features & Core Pillars

Dynamic Web UI for Sugarcoat Recipes

The Dynamic Web UI feature takes system visibility and control to the next level. Built with FastHTML and MonsterUI, it is designed to automatically generate a fully dynamic, extensible web interface for any Sugarcoat recipe, completely eliminating the need for manual front-end development.

Automatic UI Generation in Action

See how the Web UI effortlessly generates interfaces for different types of Sugarcoat recipes:

• Example 1: General Q&A MLLM Recipe A fully functional interface generated for an MLLM agent recipe from EmbodiedAgents, automatically providing controls for settings and real-time text I/O with the robot.

• Example 2: Point Navigation Recipe An example for an automatically generated UI for a point navigation system from Kompass. The UI automatically renders map data, and sends navigation goals to the robot.

What’s Inside?

• Automatic Settings UI: Interfaces for configuring the settings of all Components used in your recipe are generated on the fly.
• Auto I/O Visualization: Front-end controls and data visualizations for UI Inputs and Outputs are created automatically.
• WebSocket-Based Streaming: Features bidirectional, low-latency communication for streaming text, image, and audio messages.
• Responsive Layouts: Input and output elements are presented in clear, adaptable grid layouts.
• Extensible Design: Easily add support for new message types and custom visualizations through extensions.

Documentation

Installation

Sugarcoat is available for ROS versions Humble.

Using your Package Manager (Recommended)

On Ubuntu, for example:

sudo apt install ros-$ROS_DISTRO-automatika-ros-sugar

Building from Source

```bash

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Changelog for package automatika_ros_sugar

0.8.0 (2026-07-30)

• (fix) Removes frame_id keyword arg to avoid TypeError in SensorPlugin

• (fix) Fixes selecting the correct plugin for an event's condition topic

• (fix) Saves condition topic 'use_plugin' for getting the event's source plugin downstream

• (fix) Adds additional check in BaseAttrs diff_fields to check only init attributes

• (fix) Fixes type casting to reserve float32 in the zero-copy paths downstream

• (feature) Adds on-detach method to Plugin class

• (fix) Fixes dtype for default range genreation in laserscan data

• (chore) Adds tests for checking fast path on data at the python boundary

• (fix) Fixes rendering video frames for DOM refreshes in line with map element

• (fix) Uses explicit_fields to update an algorithm configuration to avoid loosing updates and reverting to defaults when serializing/deserializing a component

• (feature) Adds explicit asdict to BaseAttrs to enable serializing only changed values

• (chore) Adds tests for tf lookup and io

• (fix) Avoids creating TF listeners in component if source and goal frame are the same

• (feature) Adds transformation to OccupancyGridCallback

• (feature) Adds transformation to PointCloud and Path callbacks

• (feature) Ensures c-contiguous output from occupancy grid after transformation in the callback

• (feature) Sets angles dtype to float32 to keep everything in the zero-copy fast path downstream

• (docs) Adds new sensor plugin to developer docs

• (feature) Adds properties for setting the world frame and robot frame from the launcher and makes the Plugin frame the default

• (feature) Allow Monitor to proadcast static transforms sent by the launcher

• (feature) Adds range datatype from sensor messages

• (feature) Allows to pass boolean or a plugin name to the Topic 'use_plugin' to enable multi-plugin scheme

• (feature) Enables multi-plugin usage in launcher and components

• (feature) Adds an owner ID to the command channel

• (feature) Adds the plugin ID to the feedback channel to enable multi-plugins sharing the feedback bus

• (feature) Adds Mount class to describe a sensor mount on a robot on the recipe-level

• (feature) Adds PluginRole and splits Plugins into two types: robot and sensor

• (chore) Updates robot plugin tests

• (feature) Adds base frame name to robot plugin

• (fix) Handles event subscription to non-ROS inputs from robot plugins

• (fix) Ensure components are destroyed after test is done

• (fix) Improves TF tests coverage

• (fix) Adds extra check to avoid errors if deactivationg is called when component is not fully active

• (fix) Ensures TF listeners are paused/resumed when deactivating/activating a component

• (feature) Adds TF tests

• (fix) Fixes handling optional nested attrs in base config

• (fix) Removes RobotConfig attributes defaults and makes it an optional attr in a component config

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