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so_100_arm package from so-100-arm repo

so_100_arm

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Package Summary

Tags No category tags.
Version 0.3.0
License Apache
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description Standard Open Arm 100 - Version 1.3
Checkout URI https://github.com/brukg/so-100-arm.git
VCS Type git
VCS Version main
Last Updated 2025-04-05
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

This package provides ROS2 support for the SO-100 robot arm, available in 5-DOF configuration. generated package with all the configuration and launch files for using the so_100_arm with the MoveIt Motion Planning Framework

Additional Links

Maintainers

  • Bruk Gebregziabher

Authors

  • Bruk Gebregziabher
README.md

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

This will:

  • Test communication with each servo (ID 1-6)
  • Read current position, voltage, temperature
  • Verify position control mode
  • Show any communication errors

Example output for working servos:


Testing servo 1...
  Servo 1 responded to ping
  Set to position control mode
  Position: 1963
  Voltage: 7.4V
  Temperature: 29°C
  Load: -24

Test Hardware Interface

Send a test trajectory to move the physical arm:

ros2 action send_goal /so_100_arm_controller/follow_joint_trajectory control_msgs/action/FollowJointTrajectory "{
  trajectory: {
    joint_names: [Shoulder_Rotation, Shoulder_Pitch, Elbow, Wrist_Pitch, Wrist_Roll],
    points: [
      {
        positions: [-0.5, -1.0, 0.5, 0.0, 0.0],
        velocities: [0.0, 0.0, 0.0, 0.0, 0.0],
        time_from_start: {sec: 2, nanosec: 0}
      },
      {
        positions: [-0.5, 0.50, 0.0, 0.0, 0.0],
        velocities: [0.0, 0.0, 0.0, 0.0, 0.0],
        time_from_start: {sec: 4, nanosec: 0}
      }
    ]
  }
}"

This will move the arm through two positions:

  • First point (2 sec): Shoulder down with elbow bent
  • Second point (4 sec): Shoulder up with arm extended

Note: Ensure the arm has clear space to move before sending commands.

Launch the robot in Gazebo

ros2 launch so_100_arm gz.launch.py dof:5

Launch the robot in RVIZ

ros2 launch so_100_arm rviz.launch.py

Launch MoveIt2 Demo

ros2 launch so_100_arm demo.launch.py

Test Joint Movement

Send a test position command for 5dof arm

ros2 topic pub /joint_trajectory_controller/joint_trajectory trajectory_msgs/msg/JointTrajectory '{joint_names: ["Shoulder_Rotation", "Shoulder_Pitch", "Elbow", "Wrist_Roll", "Wrist_Pitch"], points: [{positions: [1.0, 1.0, 1.0, 1.0, 1.0], velocities: [], accelerations: [], effort: [], time_from_start: {sec: 1, nanosec: 0}}]}'

Test Gripper Control

The gripper can be controlled using ROS2 actions:

# Open gripper (full open position)
ros2 action send_goal /gripper_controller/gripper_cmd control_msgs/action/GripperCommand "{command: {position: 1.57, max_effort: 50.0}}"

# Close gripper
ros2 action send_goal /gripper_controller/gripper_cmd control_msgs/action/GripperCommand "{command: {position: 0.0, max_effort: 50.0}}"

# Half-open position
ros2 action send_goal /gripper_controller/gripper_cmd control_msgs/action/GripperCommand "{command: {position: 0.5, max_effort: 50.0}}"

Monitor gripper state:

ros2 topic echo /gripper_controller/state

Note: The gripper position ranges from 0.0 (closed) to 0.085 (fully open). The max_effort parameter controls the gripping force.

Demonstrations

Gazebo Simulation

SO-100 Robot Arm Simulation

The video above shows the SO-100 robot arm in Gazebo Harmonic simulation:

  • Joint trajectory execution
  • Position control
  • Dynamic simulation with gravity

Package Structure

so_100_arm/
├── CMakeLists.txt                      # Build system configuration
├── config/  
│   ├── controllers_5dof.yaml           # 5DOF joint controller configuration
│   ├── initial_positions.yaml          # Default joint positions
│   ├── joint_limits.yaml               # Joint velocity and position limits
│   ├── kinematics.yaml                 # MoveIt kinematics configuration
│   ├── moveit_controllers.yaml         # MoveIt controller settings
│   ├── moveit.rviz                     # RViz configuration for MoveIt
│   ├── pilz_cartesian_limits.yaml      # Cartesian planning limits
│   ├── ros2_controllers.yaml           # ROS2 controller settings
│   ├── sensors_3d.yaml                 # Sensor configuration
│   ├── so_100_arm.ros2_control.xacro   # ROS2 Control macro
│   ├── so_100_arm.srdf                 # Semantic robot description
│   ├── so_100_arm.urdf.xacro          # Main robot description macro
│   └── urdf.rviz                       # RViz configuration for URDF
├── launch/  
│   ├── demo.launch.py                  # MoveIt demo with RViz
│   ├── gz.launch.py                    # Gazebo simulation launch
│   ├── move_group.launch.py            # MoveIt move_group launch
│   ├── moveit_rviz.launch.py           # RViz with MoveIt plugin
│   ├── rsp.launch.py                   # Robot state publisher
│   ├── rviz.launch.py                  # Basic RViz visualization
│   ├── setup_assistant.launch.py       # MoveIt Setup Assistant
│   ├── spawn_controllers.launch.py      # Controller spawning
│   ├── static_virtual_joint_tfs.launch.py
│   └── warehouse_db.launch.py          # MoveIt warehouse database
├── LICENSE
├── models/
│   ├── so_100_arm_5dof/               # 5DOF robot assets
│   │   ├── meshes/                    # STL files for visualization
│   │   └── model.config               # Model metadata
├── package.xml                         # Package metadata and dependencies
├── README.md                           # This documentation
└── urdf/
    ├── so_100_arm_5dof.csv            # Joint configuration data
    ├── so_100_arm_5dof.urdf           # 5DOF robot description

Joint Configuration

5-DOF Configuration

  1. Shoulder Rotation (-3.14 to 3.14 rad)
  2. Shoulder Pitch (-3.14 to 3.14 rad)
  3. Elbow (-3.14 to 3.14 rad)
  4. Wrist Pitch (-3.14 to 3.14 rad)
  5. Wrist Roll (-3.14 to 3.14 rad)

Note: The 5-DOF configuration uses continuous rotation joints with full range of motion (±π radians).

Known Issues

  • The MoveIt2 configuration is still in development
  • Some joint limits may need fine-tuning
  • Collision checking needs optimization

Contributing

  1. Fork the repository
  2. Create your feature branch (git checkout -b feature/amazing-feature)
  3. Commit your changes (git commit -m 'Add some amazing feature')
  4. Push to the branch (git push origin feature/amazing-feature)
  5. Open a Pull Request

License

This project is licensed under the Apache License - see the LICENSE file for details

Authors

Bruk G.

Acknowledgments

  • Based on the SO-ARM100 project by The Robot Studio
CHANGELOG
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