LeRobot ROS2 - SO101 Follower Arm

A ROS2 implementation for the SO101 follower robotic arm, providing complete integration with LeRobot framework including hardware interface, MoveIt motion planning, and topic-based control.

🤖 Overview

This repository contains ROS2 packages for controlling the SO101 follower arm robot. It includes:

• Robot Description: URDF/XACRO models with 3D meshes
• MoveIt Integration: Motion planning and execution
• Hardware Interface: Direct motor control via Feetech servos
• Topic-based Control: Flexible control interface

📦 Packages

so101_follower_description

Robot description package containing: - URDF/XACRO robot model - 3D mesh files (.stl/.part) - RViz visualization configuration - Launch files for robot display

so101_follower_moveit

MoveIt configuration package with: - Kinematic configuration - Motion planning setup - Controller configuration - Collision detection setup

so101_hw_interface

Hardware interface package providing: - Motor control via Feetech protocol - Calibration utilities - Hardware abstraction layer - LeRobot integration utilities

topic_based_ros2_control

Generic topic-based control interface for: - Flexible control architectures - Custom control strategies - Integration with external systems

🚀 Quick Start

Prerequisites

• ROS2 Humble or later
• MoveIt2
• Python 3.8+

Installation

1. Clone the repository: bash git clone https://github.com/AgRoboticsResearch/Lerobot_ros2.git cd Lerobot_ros2

2. Install dependencies: bash rosdep install --from-paths src --ignore-src -r -y

3. Build the workspace: bash colcon build source install/setup.bash

Usage

Visualize the robot:

bash ros2 launch so101_follower_description display.launch.py

Launch MoveIt demo:

bash ros2 launch so101_follower_moveit demo.launch.py

Start hardware interface:

bash ros2 launch so101_hw_interface so101_hw.launch.py

Calibrate the arm:

bash ros2 run so101_hw_interface so101_calibrate

🎛️ Advanced Usage

Hardware Control with Joint State Publisher

For manual joint control and visualization with the hardware interface:

```bash

Terminal 1: Launch robot visualization without GUI

ros2 launch so101followerdescription display.launch.py \ usegui:=false \ jointstatestopic:=/so101follower/joint_states

Terminal 2: Start the motor bridge (hardware interface)

ros2 run so101hwinterface so101motorbridge

Terminal 3: Launch joint state publisher GUI for manual control

ros2 run jointstatepublishergui jointstatepublishergui \ --ros-args -r /jointstates:=/so101follower/joint_commands ```

This setup allows you to: - Visualize the robot in RViz with real joint states from hardware - Control joint positions manually using the GUI sliders - Monitor real-time feedback from the Feetech servos

Topic Remapping Guide

• /so101_follower/joint_states: Real joint positions from hardware
• /so101_follower/joint_commands: Desired joint positions to hardware
• Use topic remapping (-r) to connect different components

🔧 Configuration

Hardware Setup

• Connect Feetech servos via serial/USB interface
• Update motor IDs in config/so101_calibration.yaml
• Verify communication with so101_motor_bridge

Calibration

1. Run calibration script: so101_calibrate
2. Follow on-screen instructions to move joints
3. Calibration data saved automatically

📚 Documentation

• Hardware Setup Guide
• Calibration Process
• MoveIt Integration
• API Reference

🤝 Contributing

1. Fork the repository
2. Create a feature branch
3. Make your changes
4. Test thoroughly
5. Submit a pull request

📄 License

This project is licensed under the MIT License - see the LICENSE file for details.

🙋‍♂️ Support

For questions and support: - Open an issue on GitHub - Check the documentation - Join our community discussions

🔗 Related Projects

• LeRobot - Main LeRobot framework
• SO101 Hardware - Original hardware design

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