so101_ros2

ROS 2 stack for the SO-101 robot arm on ROS 2 Jazzy.

Packages

Package	Description
so101_ros2	Meta-package that pulls in the full stack
so101_description	URDF/xacro, meshes, RViz config
so101_moveit_config	ros2_control controller configuration
so101_gazebo	Gazebo Harmonic simulation and worlds
so101_bringup	Convenience launch scripts
so101_system_tests	System test scripts (planned)

Status

• Robot description (URDF/xacro, meshes)
• RViz visualization
• ros2_control integration (Gazebo)
• Gazebo simulation with pick-and-place world
• Arm and gripper control in simulation
• MoveIt 2 motion planning (SRDF, move_group, planning pipelines)
• Hardware interface (real robot)
• System test scripts

Prerequisites

• Ubuntu 24.04 (Noble)
• ROS 2 Jazzy
• Gazebo Harmonic (ros-jazzy-ros-gz)
• ros2_control stack (ros-jazzy-ros2-control, ros-jazzy-gz-ros2-control)

Build

cd ~/ros2_ws/src
git clone <repo-url> so101_ros2
cd ~/ros2_ws
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install
source install/setup.bash

Quick start

RViz only (no simulation):

ros2 launch so101_description robot_state_publisher.launch.py

Gazebo simulation (robot + controllers + RViz):

ros2 launch so101_gazebo so101.gazebo.launch.py

Move the arm (after simulation is running):

ros2 topic pub --once /arm_controller/joint_trajectory trajectory_msgs/msg/JointTrajectory "{
  joint_names: ['shoulder_pan', 'shoulder_lift', 'elbow_flex', 'wrist_flex', 'wrist_roll'],
  points: [{positions: [0.3, -0.8, 0.6, -0.3, 0.5], time_from_start: {sec: 3, nanosec: 0}}]
}"

Open / close gripper:

ros2 topic pub --once /gripper_controller/commands std_msgs/msg/Float64MultiArray "{data: [1.5]}"
ros2 topic pub --once /gripper_controller/commands std_msgs/msg/Float64MultiArray "{data: [-0.17]}"

See individual package READMEs for details.

Robot joints

Joint	Type	Limit (rad)
shoulder_pan	revolute	-1.92 … 1.92
shoulder_lift	revolute	-1.75 … 1.75
elbow_flex	revolute	-1.69 … 1.69
wrist_flex	revolute	-1.66 … 1.66
wrist_roll	revolute	-2.74 … 2.84
gripper	revolute	-0.17 … 1.75

Roadmap

description → simulation → planning → hardware control