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so_arm_100 repository

so_arm_100 so_arm_100_bringup so_arm_100_description so_arm_100_moveit_config

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/brukg/SO-100-arm.git
VCS Type git
VCS Version main
Last Updated 2026-03-28
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
so_arm_100 0.3.0
so_arm_100_bringup 0.3.0
so_arm_100_description 0.3.0
so_arm_100_moveit_config 0.3.0

README

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_arm_100
source install/setup.bash

Usage

Launch the Hardware Interface

## Launch the hardware interface
ros2 launch so_arm_100 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

CONTRIBUTING

Repo symbol

so_arm_100 repository

so_arm_100 so_arm_100_bringup so_arm_100_description so_arm_100_moveit_config

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/brukg/SO-100-arm.git
VCS Type git
VCS Version main
Last Updated 2026-03-28
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
so_arm_100 0.3.0
so_arm_100_bringup 0.3.0
so_arm_100_description 0.3.0
so_arm_100_moveit_config 0.3.0

README

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_arm_100
source install/setup.bash

Usage

Launch the Hardware Interface

## Launch the hardware interface
ros2 launch so_arm_100 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

CONTRIBUTING

No version for distro kilted showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

so_arm_100 repository

so_arm_100 so_arm_100_bringup so_arm_100_description so_arm_100_moveit_config

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/brukg/SO-100-arm.git
VCS Type git
VCS Version main
Last Updated 2026-03-28
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
so_arm_100 0.3.0
so_arm_100_bringup 0.3.0
so_arm_100_description 0.3.0
so_arm_100_moveit_config 0.3.0

README

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_arm_100
source install/setup.bash

Usage

Launch the Hardware Interface

## Launch the hardware interface
ros2 launch so_arm_100 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

CONTRIBUTING

No version for distro rolling showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

so_arm_100 repository

so_arm_100 so_arm_100_bringup so_arm_100_description so_arm_100_moveit_config

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/brukg/SO-100-arm.git
VCS Type git
VCS Version main
Last Updated 2026-03-28
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
so_arm_100 0.3.0
so_arm_100_bringup 0.3.0
so_arm_100_description 0.3.0
so_arm_100_moveit_config 0.3.0

README

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_arm_100
source install/setup.bash

Usage

Launch the Hardware Interface

## Launch the hardware interface
ros2 launch so_arm_100 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

CONTRIBUTING

No version for distro ardent showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

so_arm_100 repository

so_arm_100 so_arm_100_bringup so_arm_100_description so_arm_100_moveit_config

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/brukg/SO-100-arm.git
VCS Type git
VCS Version main
Last Updated 2026-03-28
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
so_arm_100 0.3.0
so_arm_100_bringup 0.3.0
so_arm_100_description 0.3.0
so_arm_100_moveit_config 0.3.0

README

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_arm_100
source install/setup.bash

Usage

Launch the Hardware Interface

## Launch the hardware interface
ros2 launch so_arm_100 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

CONTRIBUTING

No version for distro bouncy showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

so_arm_100 repository

so_arm_100 so_arm_100_bringup so_arm_100_description so_arm_100_moveit_config

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/brukg/SO-100-arm.git
VCS Type git
VCS Version main
Last Updated 2026-03-28
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
so_arm_100 0.3.0
so_arm_100_bringup 0.3.0
so_arm_100_description 0.3.0
so_arm_100_moveit_config 0.3.0

README

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_arm_100
source install/setup.bash

Usage

Launch the Hardware Interface

## Launch the hardware interface
ros2 launch so_arm_100 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

CONTRIBUTING

No version for distro crystal showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

so_arm_100 repository

so_arm_100 so_arm_100_bringup so_arm_100_description so_arm_100_moveit_config

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/brukg/SO-100-arm.git
VCS Type git
VCS Version main
Last Updated 2026-03-28
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
so_arm_100 0.3.0
so_arm_100_bringup 0.3.0
so_arm_100_description 0.3.0
so_arm_100_moveit_config 0.3.0

README

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_arm_100
source install/setup.bash

Usage

Launch the Hardware Interface

## Launch the hardware interface
ros2 launch so_arm_100 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

CONTRIBUTING

No version for distro eloquent showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

so_arm_100 repository

so_arm_100 so_arm_100_bringup so_arm_100_description so_arm_100_moveit_config

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/brukg/SO-100-arm.git
VCS Type git
VCS Version main
Last Updated 2026-03-28
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
so_arm_100 0.3.0
so_arm_100_bringup 0.3.0
so_arm_100_description 0.3.0
so_arm_100_moveit_config 0.3.0

README

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_arm_100
source install/setup.bash

Usage

Launch the Hardware Interface

## Launch the hardware interface
ros2 launch so_arm_100 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

CONTRIBUTING

No version for distro dashing showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

so_arm_100 repository

so_arm_100 so_arm_100_bringup so_arm_100_description so_arm_100_moveit_config

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/brukg/SO-100-arm.git
VCS Type git
VCS Version main
Last Updated 2026-03-28
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
so_arm_100 0.3.0
so_arm_100_bringup 0.3.0
so_arm_100_description 0.3.0
so_arm_100_moveit_config 0.3.0

README

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_arm_100
source install/setup.bash

Usage

Launch the Hardware Interface

## Launch the hardware interface
ros2 launch so_arm_100 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

CONTRIBUTING

No version for distro galactic showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

so_arm_100 repository

so_arm_100 so_arm_100_bringup so_arm_100_description so_arm_100_moveit_config

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/brukg/SO-100-arm.git
VCS Type git
VCS Version main
Last Updated 2026-03-28
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
so_arm_100 0.3.0
so_arm_100_bringup 0.3.0
so_arm_100_description 0.3.0
so_arm_100_moveit_config 0.3.0

README

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_arm_100
source install/setup.bash

Usage

Launch the Hardware Interface

## Launch the hardware interface
ros2 launch so_arm_100 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

CONTRIBUTING

No version for distro foxy showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

so_arm_100 repository

so_arm_100 so_arm_100_bringup so_arm_100_description so_arm_100_moveit_config

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/brukg/SO-100-arm.git
VCS Type git
VCS Version main
Last Updated 2026-03-28
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
so_arm_100 0.3.0
so_arm_100_bringup 0.3.0
so_arm_100_description 0.3.0
so_arm_100_moveit_config 0.3.0

README

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_arm_100
source install/setup.bash

Usage

Launch the Hardware Interface

## Launch the hardware interface
ros2 launch so_arm_100 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

CONTRIBUTING

No version for distro iron showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

so_arm_100 repository

so_arm_100 so_arm_100_bringup so_arm_100_description so_arm_100_moveit_config

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/brukg/SO-100-arm.git
VCS Type git
VCS Version main
Last Updated 2026-03-28
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
so_arm_100 0.3.0
so_arm_100_bringup 0.3.0
so_arm_100_description 0.3.0
so_arm_100_moveit_config 0.3.0

README

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_arm_100
source install/setup.bash

Usage

Launch the Hardware Interface

## Launch the hardware interface
ros2 launch so_arm_100 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

CONTRIBUTING

No version for distro lunar showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

so_arm_100 repository

so_arm_100 so_arm_100_bringup so_arm_100_description so_arm_100_moveit_config

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/brukg/SO-100-arm.git
VCS Type git
VCS Version main
Last Updated 2026-03-28
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
so_arm_100 0.3.0
so_arm_100_bringup 0.3.0
so_arm_100_description 0.3.0
so_arm_100_moveit_config 0.3.0

README

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_arm_100
source install/setup.bash

Usage

Launch the Hardware Interface

## Launch the hardware interface
ros2 launch so_arm_100 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

CONTRIBUTING

No version for distro jade showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

so_arm_100 repository

so_arm_100 so_arm_100_bringup so_arm_100_description so_arm_100_moveit_config

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/brukg/SO-100-arm.git
VCS Type git
VCS Version main
Last Updated 2026-03-28
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
so_arm_100 0.3.0
so_arm_100_bringup 0.3.0
so_arm_100_description 0.3.0
so_arm_100_moveit_config 0.3.0

README

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_arm_100
source install/setup.bash

Usage

Launch the Hardware Interface

## Launch the hardware interface
ros2 launch so_arm_100 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

CONTRIBUTING

No version for distro indigo showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

so_arm_100 repository

so_arm_100 so_arm_100_bringup so_arm_100_description so_arm_100_moveit_config

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/brukg/SO-100-arm.git
VCS Type git
VCS Version main
Last Updated 2026-03-28
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
so_arm_100 0.3.0
so_arm_100_bringup 0.3.0
so_arm_100_description 0.3.0
so_arm_100_moveit_config 0.3.0

README

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_arm_100
source install/setup.bash

Usage

Launch the Hardware Interface

## Launch the hardware interface
ros2 launch so_arm_100 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

CONTRIBUTING

No version for distro hydro showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

so_arm_100 repository

so_arm_100 so_arm_100_bringup so_arm_100_description so_arm_100_moveit_config

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/brukg/SO-100-arm.git
VCS Type git
VCS Version main
Last Updated 2026-03-28
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
so_arm_100 0.3.0
so_arm_100_bringup 0.3.0
so_arm_100_description 0.3.0
so_arm_100_moveit_config 0.3.0

README

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_arm_100
source install/setup.bash

Usage

Launch the Hardware Interface

## Launch the hardware interface
ros2 launch so_arm_100 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

CONTRIBUTING

No version for distro kinetic showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

so_arm_100 repository

so_arm_100 so_arm_100_bringup so_arm_100_description so_arm_100_moveit_config

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/brukg/SO-100-arm.git
VCS Type git
VCS Version main
Last Updated 2026-03-28
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
so_arm_100 0.3.0
so_arm_100_bringup 0.3.0
so_arm_100_description 0.3.0
so_arm_100_moveit_config 0.3.0

README

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_arm_100
source install/setup.bash

Usage

Launch the Hardware Interface

## Launch the hardware interface
ros2 launch so_arm_100 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

CONTRIBUTING

No version for distro melodic showing jazzy. Known supported distros are highlighted in the buttons above.
Repo symbol

so_arm_100 repository

so_arm_100 so_arm_100_bringup so_arm_100_description so_arm_100_moveit_config

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/brukg/SO-100-arm.git
VCS Type git
VCS Version main
Last Updated 2026-03-28
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
so_arm_100 0.3.0
so_arm_100_bringup 0.3.0
so_arm_100_description 0.3.0
so_arm_100_moveit_config 0.3.0

README

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_arm_100
source install/setup.bash

Usage

Launch the Hardware Interface

## Launch the hardware interface
ros2 launch so_arm_100 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

CONTRIBUTING

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so_arm_100 repository

so_arm_100 so_arm_100_bringup so_arm_100_description so_arm_100_moveit_config

ROS Distro
jazzy

Repository Summary

Checkout URI https://github.com/brukg/SO-100-arm.git
VCS Type git
VCS Version main
Last Updated 2026-03-28
Dev Status DEVELOPED
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
so_arm_100 0.3.0
so_arm_100_bringup 0.3.0
so_arm_100_description 0.3.0
so_arm_100_moveit_config 0.3.0

README

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_arm_100
source install/setup.bash

Usage

Launch the Hardware Interface

## Launch the hardware interface
ros2 launch so_arm_100 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

CONTRIBUTING