From be241673871c071834454353044eb54dcde3060f Mon Sep 17 00:00:00 2001 From: brukg Date: Fri, 31 Jan 2025 02:01:02 +0100 Subject: [PATCH] ROS2 simulation and hardware integration --- README.md | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/README.md b/README.md index 52c6fee..ebfec3a 100644 --- a/README.md +++ b/README.md @@ -89,6 +89,10 @@ Join the project with some of the brightest minds in open AI and robotics develo 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/signalbotics/so-100-arm) providing the robot description, controllers, and MoveIt2 integration, and [so_arm_100_hardware](https://github.com/signalbotics/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.