ROS 2 package collection for the SO-ARM100/101 robot

This repository provides a collection of packages to run the SO-ARM100/101 with ROS 2.

Features

• Moveit 2 integration
• Hardware interface
• ROS 2 Control integration
• TODO: Gazebo integration
• TODO: Teach pendand
• TODO: Docker image

Packages in the repository:

• sc_servo: package with libraries to communicate with the Feetech Servo motors
• sc_servo_examples: package with demos of the interface with the hardware
• so_arm_bring_up: package with launch files to start the robot
• so_arm_config: package with MoveIt ans ros2_control configurations
• so_arm_description: package with description files of the robot
• so_arm_driver: package with the robot arm driver
• so_arm_hardware_interface: package with the hardware interface implementation

Requirements

• Ubuntu
• ROS 2 Humble -> Instalation Guide
• Moveit 2 -> sudo apt install ros-humble-moveit
• ros2_control -> sudo apt install ros-humble-ros2-control

Getting Started

First create a ROS 2 workspace and clone this repository in there:

mkdir ~/ros2_ws/src && cd ~/ros2_ws/src
git clone https://github.com/Mat198/so-arm-ros

Source your ROS 2 installation and compile the repository:

source /opt/ros/humble/setup.bash
cd ~/ros2_ws && source  && colcon build --symlink-install

Check the name of the USB port the robot is connected with:

TODO: Find a good and reliable way to find this

Source your ROS 2 workspace and them run the main launch

source ~/ros2_ws/install/setup.bash
ros2 launch so_arm_bring_up so_arm.launch.py 

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Examples

Planning a path using Moveit 2 TODO: Add picture

Executing the path on the real robot TODO: Add picture

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Future improvements

Planed features:

• Driver:

  • Execute smoother trajectories

• Moveit Integration:

  • Add mode planners

• Hardware interface:

  • Configure usb port and servo motors IDs
  • Configure joint limits automatically
  • Configure service to disable motors
  • Configure initial position to be outside colisions

• Gazebo simulation

  • Implement Gazebo simulation
  • Implement pick and place example