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Repository Summary
| Description | ROS 2 packages for https://github.com/TheRobotStudio/SO-ARM100 |
| Checkout URI | https://github.com/jafarabdi/ros2_so_arm100.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-03-23 |
| 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) |
Packages
| Name | Version |
|---|---|
| so_arm100_description | 0.0.0 |
| so_arm100_moveit_config | 0.3.0 |
README
ROS2 SO-ARM100
Description: ROS 2 description package for https://github.com/TheRobotStudio/SO-ARM100
https://github.com/user-attachments/assets/5655b956-5536-4143-9707-17cad5d1cbc8
https://github.com/user-attachments/assets/36ccaca0-82dd-4206-a4dd-953867e89a20
Usage
To launch the demo run:
ros2 launch so_arm100_moveit_config demo.launch.py hardware_type:=mock_components # hardware_type:=real for running with hardware
To launch the controllers run:
ros2 launch so_arm100_description controllers_bringup.launch.py hardware_type:=mock_components # hardware_type:=real for running with hardware
To launch rviz run:
ros2 run rviz2 rviz2 -d $(ros2 pkg prefix --share so_arm100_description)/rviz/config.rviz
To launch rviz with moveit’s Motion Planning plugin:
ros2 launch so_arm100_moveit_config moveit_rviz.launch.py
To launch move_group node (without rviz):
ros2 launch so_arm100_moveit_config move_group.launch.py
To test the joint_trajectory_controller run:
ros2 run rqt_joint_trajectory_controller rqt_joint_trajectory_controller
MoveIt Setup Assistant
To regenerate/modify the config files using moveit_setup_assistant
ros2 run moveit_setup_assistant moveit_setup_assistant --config_pkg ~/PATH/ros2_so_arm100/so_arm100_moveit_config
CONTRIBUTING
No CONTRIBUTING.md found.
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