Developers
Build on SubArm.
The SDK, the register map and the mechanical drawings, documented for integrators. Request access and we send the current package with the drawing revision that matches your arm.
ROS 2 SDK
Driver, message definitions and the inverse-kinematics node, on Linux and Windows.
Read the SDK notesCAN / TTL protocol
The register map, frame layout and telemetry fields for non-ROS stacks.
Protocol referenceRepository access
Source, examples and changelog, shared with integrators while the public repo opens.
Request accessDocuments
The library.
Current revisions. The drawing issued with your quote always takes precedence.
ROS 2
A documented arm, not a black box.
Publish a Cartesian pose or read the joint state. The IK node handles continuous rotation, joint limits and the tool channel. The same topics work for one arm or a Duo pair.
- Open CAN register map
- Windows and Linux hosts
- Headless mode for vehicle-side deployment
# subscribe to joint state
ros2 topic echo /subarm/joint_state
# send a Cartesian target
ros2 topic pub /subarm/pose_target \
geometry_msgs/msg/PoseStamped \
"{pose: {position: {x: 0.42, y: -0.1, z: 0.18}}}"
# tool channel: 0 open, 1 closed
ros2 topic pub /subarm/tool std_msgs/msg/Float32 "{data: 0.6}"Protocol
CAN or TTL, on your terms.
Every joint is addressable, every frame is documented, and nothing in the arm depends on the SubArm controller. Bring your own multiplexer, autopilot or autonomy stack.
Transport
CAN 2.0B or TTL UART, selectable at commissioning. One sealed connector carries 10–32 V (10–60 V on the Duo) and the data pair.
Registers
Joint targets, limits, mode selection and the tool channel — plus a status block for fault and temperature flags.
Telemetry
Joint position, current and status stream at a documented rate. The ROS 2 topics mirror the same fields, so either path gives the same data.
Register maps are versioned with firmware; the matching revision is printed on each arm and included in the SDK package.
FAQ
Common questions.
How deep can SubArm operate?
The arm is a sealed electric unit. The pressure rating depends on the joint seals and the vehicle build, so the deployment depth for your configuration is stated in the datasheet and confirmed in the drawing.
Do the arms work with any ROV?
Any vehicle that can supply 10–32 V (10–60 V for the Duo) and a CAN or TTL link, with a flat Ø 38 mm mount. No hydraulic supply is needed.
Is there a ROS 2 driver?
Yes — a ROS 2 package with a joint-state publisher, a pose-target subscriber and the IK node. The CAN register map is documented for non-ROS stacks.
How do I get a quote?
Send the vehicle drawing, the rail voltage, the comms and the task to support@subarm.com. A written quote with the mounting drawing follows, usually within one working day.
Do you supply evaluation units?
Evaluation units are available for integrators and research groups. Mention the platform and the timeline in your inquiry.
Where are SubArm systems manufactured?
SubArm systems are assembled and tested in Shenzhen, China. Shipping and import documentation are arranged with the quote.
Developers
Integrate in a day, not a quarter.
Send the vehicle and the stack. We will answer with the SDK, the protocol revision and the mounting drawing.
