SO-100 Robot Arm ROS2 Package

This package provides ROS2 support for the SO-100 robot arm, available in 5-DOF configuration. It is based on the open-source 3D printable SO-ARM100 project by The Robot Studio. This implementation includes URDF models, Gazebo simulation support, and MoveIt2 integration.

The original ROS1 implementation can be found at: https://github.com/TheRobotStudio/SO-ARM100

Features

• Robot arm URDF models
  • 5-DOF configuration with gripper
• Gazebo Harmonic simulation support
• ROS2 Control integration
  • Joint trajectory controller
  • Gripper action controller
• MoveIt2 motion planning capabilities (In Progress)
  • Basic configuration generated
  • Integration with Gazebo pending
  • Motion planning testing pending

Prerequisites

ROS2 and Dependencies

• ROS2 Humble
• Gazebo Garden
• MoveIt2
• ros2_control
• gz_ros2_control

Hardware Requirements

For using the physical robot:

• SO-ARM-100 robot arm (5-DOF)
• Feetech SMS/STS series servos
• USB-to-Serial converter (CH340 chip)
• so_arm_100_hardware package installed:

  cd ~/ros2_ws/src
  git clone git@github.com:brukg/so_arm_100_hardware.git
  cd ~/ros2_ws
  colcon build --packages-select so_arm_100_hardware
  source install/setup.bash
  

Installation

Create a ROS2 workspace (if you don’t have one)

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src

Clone the repository

git clone git@github.com:brukg/SO-100-arm.git

Install dependencies

cd ~/ros2_ws
rosdep install --from-paths src --ignore-src -r -y

Build the package

colcon build --packages-select so_100_arm
source install/setup.bash

Usage

Launch the Hardware Interface

## Launch the hardware interface
ros2 launch so_100_arm hardware.launch.py

Test Servo Communication

To verify servo connections and read their status:

# Build the test program
cd ~/ros2_ws
colcon build --packages-select so_arm_100_hardware
source install/setup.bash

# Set USB permissions
sudo chmod 666 /dev/ttyUSB0

# Run the servo test
ros2 run so_arm_100_hardware test_servo

File truncated at 100 lines see the full file