SO-ARM100-ROS2

A ROS 2 ecosystem for LeRobot SO-ARM100: Description, Planning, Kinematics, and Control

ROS 2
License: MIT
LeRobot

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📌 Project Overview

SO-ARM100-ROS2 is a ROS 2 project dedicated to the LeRobot SO-ARM100, an open-source robotic arm. This repository provides a modular, production-ready ecosystem for simulating, planning, and controlling the SO-ARM100 in ROS 2, with a focus on motion planning, kinematics, and real-world deployment.

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🎯 Goals

• Develop ROS 2 packages for seamless integration of the LeRobot SO-ARM100.
• Implement custom motion planners (e.g., RRT variants) for efficient trajectory generation.
• Provide simulation environments (Gazebo) for testing pick-and-place and other applications.
• Enable real-world control of the robot, including motor control and linear axis integration.
• Foster open-source collaboration for the LeRobot community.

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🗂️ Repository Structure

Package	Description	Status
SO_ARM100_description	URDF/Xacro description of the SO-ARM100 robotic arm.	✅ Developed
SO_ARM100_moveit	MoveIt planning scene configuration for RViz.	✅ Developed
SO_ARM100_kinematics	MoveIt plugin for fast kinematic solving.	✅ Developed
SO_ARM100_planners	C++ MoveIt plugins for custom RRT-based motion planners.	🚧 In Development
SO_ARM100_planners_prototype	Python experimental prototypes for motion planners.	🚧 In Development
SO_ARM100_control	ROS 2 package for motor control and hardware interfacing.	📅 Planned
SO_ARM100_gazebo	Gazebo simulation environment for pick-and-place tasks.	📅 Planned

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🔧 Key Features

✅ Developed

• URDF/Xacro Models: Accurate description of the SO-ARM100 arm, compatible with ROS 2 and MoveIt.
• MoveIt Integration: Pre-configured planning scenes for RViz, ready for motion planning and collision avoidance.
• Kinematics Plugin: Optimized inverse kinematics solver for the SO-ARM100, integrated as a MoveIt plugin.

🚧 In Development

• Custom Motion Planners: Implementation of RRT, and RRT variants for efficient path planning.
• MoveIt Plugins: PlannerManager and PlanningContext plugins to extend MoveIt’s default capabilities.

📅 Future Work

• Gazebo Simulation: Full simulation environment for testing pick-and-place, collision avoidance, and Cartesian control.
• Hardware Control: ROS 2 package (SO_ARM100_control) for interfacing with the robot’s motors and a custom linear axis (mechanical design + integration).
• 3D Printing: Physical assembly of the SO-ARM100 for real-world testing.

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🛠️ Getting Started

Prerequisites

• ROS 2 (Humble, Iron, or Rolling)
• MoveIt 2
• Gazebo (for simulation)
• LeRobot SO-ARM100 (hardware or simulation)

Installation

1. Clone the repository:

 git clone https://github.com/your-username/SO-ARM100-ROS2.git
 cd SO-ARM100-ROS2

2. Build the workspace:

 colcon build
 source install/setup.bash

3. Launch a demo (e.g., RViz with MoveIt):

 ros2 launch SO_ARM100_moveit demo.launch.py

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🤝 Contributing

Contributions are welcome! Feel free to:

• Report bugs or suggest features via GitHub Issues.
• Submit pull requests for new planners, improvements, or documentation.
• Share your own SO-ARM100 applications or extensions.

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📜 License

This project is licensed under the MIT License – see the LICENSE file for details.

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📞 Contact

For questions or collaboration, reach out to:

• Hugo Charrier – hugo.charrier2009@gmail.com | LinkedIn
• LeRobot Community – Discord | Forum

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🏆 Acknowledgments

• LeRobot for the open-source SO-ARM100 design.
• ROS 2 and MoveIt communities for their invaluable tools and documentation.