public/so-101-urdf/README.md

SO-ARM ROS2 URDF Package

A complete ROS2 package for the SO-ARM101 robotic arm with URDF description.

📋 Overview

This package provides a complete ROS2 implementation for the SO-ARM101 robotic arm, including:

• URDF robot description with visual and collision meshes
• RViz visualization with pre-configured displays
• Launch files for easy robot visualization
• Integration with MoveIt for motion planning
• Joint state publishers for interactive control

🎯 Original Source

https://github.com/TheRobotStudio/SO-ARM100/tree/main/Simulation/SO101

🚀 Key Improvements Made

1. Complete ROS2 Package Structure

• ✅ Proper package.xml with all necessary dependencies
• ✅ CMakeLists.txt for ROS2 build system
• ✅ Organized directory structure following ROS2 conventions

2. Enhanced Visualization

• ✅ Fixed mesh file paths for proper package integration

Build Instructions

1. Clone this repository into your ROS2 workspace:

   cd ~/your_ros2_ws/src
   git clone <your-repo-url> so_arm_description
   

2. Build the package:

   cd ~/your_ros2_ws
   colcon build --packages-select so_arm_description
   source install/setup.bash