ROS 2 Package for LeRobot SO-ARM101

LeRobot SO-ARM101 integrated into ROS 2 Jazzy.

Features

• ✅ ROS 2 Jazzy compatibility
• ✅ Rviz visualization
• ✅ Gazebo Harmonic simulation
• ✅ ROS 2 Control integration
• ✅ MoveIt 2 motion planning
• 📝 TODO: ROS 2 control interface for the real HW

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Installation

Clone this repository and install dependencies using rosdep:

Clone the repository

git clone https://github.com/Pavankv92/lerobot_ws.git

cd lerobot_ws

Install ROS 2 dependencies

rosdep update

rosdep install --from-paths src --ignore-src -r -y

Build

colcon build

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Rviz

Summary: Visualising LeRobot SO101 in Rviz

Command:
ros2 launch lerobot_description so101_display.launch.py

Video:

SO101_Rviz.mp4

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Gazebo and ROS 2 Control

Summary: Gazebo and ROS 2 Control: Control the gripper

Commands:
ros2 launch lerobot_description so101_gazebo.launch.py
ros2 launch lerobot_controller so101_controller.launch.py

Video:

SO101_Gazebo.mp4

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Gazebo, ROS 2 Control and MoveIt

Summary: Gazebo, ROS 2 Control and MoveIt 2: MoveIt planner for the arm and gripper

Commands:
ros2 launch lerobot_description so101_gazebo.launch.py
ros2 launch lerobot_controller so101_controller.launch.py
ros2 launch lerobot_moveit so101_moveit.launch.py

Settings:

• select "ompl" planning library for "arm" and "gripper" groups

Video: Arm

SO101_moveit_arm.mp4

Video: Gripper

SO101_moveit_gripper.mp4

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License

This project is based on RobotStudio SO-ARM100 and adheres to their license.