SO100-ROS2 🦾

ROS2 driver and simulation support for the SO-100/101 robotic arm — a low-cost, high-capability 6-DOF manipulator perfect for research and education.

• ROS2 Humble native support with standard interfaces
• Gazebo Fortress simulation with accurate physics
• NVIDIA Isaac Sim integration for photorealistic sim and synthetic data
• MoveIt2 motion planning (coming soon)
• BNO085 IMU logging for end-effector tracking
• Simple Python API for quick prototyping

Works with both SO-100 and SO-101 variants.

# ROS2 Humble
sudo apt install ros-humble-desktop

# Dependencies
sudo apt install ros-humble-ros2-control ros-humble-ros2-controllers

# Clone into your workspace
cd ~/ros2_ws/src
git clone https://github.com/ddlyRabbit/SO100-ROS2.git

# Build
cd ~/ros2_ws
colcon build --packages-select so100_ros2
source install/setup.bash

# Gazebo
ros2 launch so100_bringup gazebo.launch.py

# Isaac Sim (requires Isaac Sim installed)
ros2 launch so100_bringup isaac.launch.py

# Connect SO-100 via USB, then:
ros2 launch so100_bringup hardware.launch.py port:=/dev/ttyUSB0

SO100-ROS2/
├── so100_description/    # URDF, meshes, materials
├── so100_bringup/        # Launch files
├── so100_control/        # ros2_control config
├── so100_moveit/         # MoveIt2 config (WIP)
├── so100_isaac/          # Isaac Sim USD assets
└── scripts/              # Utility scripts
    └── BNO85_logger.py   # IMU data logger

import rclpy
from so100_interface import SO100Arm

arm = SO100Arm()
arm.home()
arm.move_joint([0, -45, 90, 0, 45, 0])  # degrees
arm.move_cartesian(x=0.2, y=0.0, z=0.15)
arm.gripper(open=True)

# Move to home position
ros2 service call /so100/home std_srvs/srv/Trigger

# Joint position command
ros2 topic pub /so100/joint_commands sensor_msgs/msg/JointState "..."

• Basic ROS2 driver
• Gazebo simulation
• Isaac Sim integration
• IMU logging
• MoveIt2 motion planning
• Gripper action server
• Camera integration (eye-in-hand)
• Pick & place demos

PRs welcome! Please read CONTRIBUTING.md first.

# Run tests
colcon test --packages-select so100_ros2

MIT License - see LICENSE for details.

• SO-ARM100 - Original arm design
• ros2_control - Control framework
• NVIDIA Isaac Sim - Simulation platform

Built with 🤖 by @ddlyRabbit