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

0.6.0 (2026-04-05)

• (docs) Updates docs for the publishing pre-processor consistency and action decorators with description
• (fix) Moves feedback update period to UI node config
• (fix) Uses wait_until_first_feedback in action client send_request
• (fix) Minor fix in onclick button behavior
• (feature) Adds persistent connection handling for map topics in UI
• (fix) Updates Twist converter to use a single argument
• (fix) Fixes base action client goal acceptance check
• (feature) Extends the launcher to use robot, frames, inputs and outputs settings implemented in child packages
• (fix) Adds fix for uvloop ssl protocol bug by passing it asynio event loop
• (fix) Adds fixes for python3.8 compatibility
• (fix) Fixes null header values in HTMX websocket messages that crashes FastHTML
• (fix) Fixes running external processors on output
• (fix) Fix on_fail action validation in Launcher
• (chore) Fixes feedback messages logging in Task UI
• (feature) Adds helper method to format ros messages for logging
• (chore) Improves UI light theme colors
• (fix) Fixes feedback cleanup and scroll to bottom
• (fix) Fixes action client cleanup in UI node after task completed
• (fix) Fixes UI Task feedback ws sending in callback
• (fix) Fixes UI page reload on form start error
• (fix) Adds audio manager to UI only if an audio element is added
• (fix) Kills the feedback timer after a task is cancelled
• (fix) Changes certificate missing logging in ui node to warning
• (feature) Adds method to inspect component and to get available ros entrypoints
• (feature) Adds summarize method to component base config
• (fix) Tracks each component package and executable names in a dictionary by the Launcher
• (feature) Adds array_shape validator to base validators
• (fix) Fixes elements setup order in launcher
• (fix) Makes ui main action input return an error if called on a component not an action server
• (chore) Adds check for additional internal events in Monitor launch_action
• (fix) Moves initializing empty internal events/actions paris to helper method
• (fix) Fixes pure internal events init in Monitor
• (fix) Adds more expressive response in execute_method service
• (feature) Adds registration of pure internal events in Monitor
• (refactor) Moves parameter update code to a helper method to be used by childern components
• (fix) Removes node spin fro service send_request
• (fix) Fixes calling execute method client in monitor
• (feature) Adds setter methods for custom action/server names
• (feature) Adds methods to execute action goals based on a component name
• (feature) Adds execute method service client to monitor and makes all service calls return results
• (fix) Fixes error in component fallback decorator
• (feature) Makes tool description a mapping thats stored as a json string
• (feature) Adds optional tool description to fallback decorators as well
• (feature) Adds action description to component action decorator
• (feature) Adds description property to Action
• (docs) Moves all docs to developer style
• (docs) Fixes base url and sitemap
• (chore) Splits docs action to build and deploy
• (chore) Changes CI to official github pages deployment
• Contributors: ahr, mkabtoul

0.5.0 (2026-02-14)

• (refactor) Removes callback_group from component config
• (fix) Fixes action serialization for fallbacks
• (refactor) Removes optional health monitoring and enables it for all components
• (docs) Updates events/actions docs using new theme
• (docs) Updates concepts overview
• (docs) Updates core design docs pages
• (fix) Removes outdated check in component_action decorator
• (fix) Fixes UI outputs init error
• (docs) Updates overview and install sections
• (docs) Updates docs for events/actions and removes unnecessary md copying
• (docs) Uses Shibuya theme for docs
• (feature) Adds support for Path visulization in UI outputs
• (feature) Adds UI callback for Path datatype
• (fix) Handles point frame_id for UI output display on maps
• (docs) Re-orgnize the index tree
• (fix) Moves component fallback topics blackboard to init
• (feature) Adds support for displaying point-like UI outputs on a Map element
• (fix) Fixes clicked points transformation in UI map elements
• (feature) Adds support for topic inputs in Fallback Actions
• (fix) Fixes registering actions with multiple topics to events
• (fix) Fixes parsing and clearing a component internal events/actions
• (feature) Adds method to replace an Action input topic
• (fix) Fixes checking on_any event with multi-topic condition source
• (fix) Fixes sending topics blackboard values to action on internal (monitor) events
• (fix) Fixes serialization error in base config

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