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ROS2 simulation and ros2 control hardware integration #53

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ROS2 simulation and hardware integration
brukg Jan 31, 2025
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Merge branch 'main' of github.com:brukg/SO-ARM100
brukg Apr 2, 2025
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Expand Up @@ -124,6 +124,10 @@ Note: we removed to auto-calibration at the end in favor of manual calibration w

Check out this Handy [URDF viewer](https://gkjohnson.github.io/urdf-loaders/).

## SO-100 Robot Arm ROS2 Implementation

The SO-100 robot arm is implemented in ROS2 through two packages: [so_100_arm](https://github.com/brukg/so-100-arm) providing the robot description, controllers, and MoveIt2 integration, and [so_arm_100_hardware](https://github.com/brukg/so_arm_100_hardware) providing the hardware interface for Feetech SMS/STS servos. Together they enable complete ROS2 Control integration, Gazebo simulation, and hardware control.

## Debugging motors

For debugging, any Windows PC can connect over USB to program the servos and to debug or do tests. To do so download [Feetech Software](https://www.feetechrc.com/software.html). For Ubuntu, you can use [FT_SCServo_Debug_Qt](https://github.com/Kotakku/FT_SCServo_Debug_Qt). Note: This step is not necessary as motors can be configured using the LeRobot Library, but this can be helpful for debugging.
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