SO-100 Arm ROS 2 package
- Software
- Robot arms and industry
- Driver or SDK
ROS 2 package for the 5-DOF SO-100 robot arm, providing URDF models, Gazebo simulation, ros2_control integration and MoveIt2 support still in progress.
Source on GitHub: github.com/brukg/SO-100-arm (opens in a new tab). Facts read at commit 789b6b2 (opens in a new tab).
Licenses
- Code
- Apache-2.0 (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (Apache-2.0) at commit 789b6b2 (opens in a new tab), on 22 Oct 2026.
- Commercial use
- Yes
What it does
- Provides URDF models of the 5-DOF arm with gripper.
- Runs in Gazebo Harmonic simulation with ros2_control joint trajectory and gripper action controllers.
- Drives the physical arm through a hardware interface that uses Feetech servos and needs calibration first.
- Includes a calibration tool that records min, center and max servo ticks for each joint.
- Includes a servo test program that checks communication, position, voltage and temperature.
- MoveIt2 motion planning is in progress: basic configuration exists, Gazebo integration and planning tests are pending.
Written by Robotheca from the project's README (opens in a new tab) at commit 789b6b2.
Getting started
- Difficulty
- Intermediate
- How to start
- The project's README (opens in a new tab)
Maintenance
- Status
- Active: a commit in the last 90 days
- Newest commit
- 5 Aug 2026 on main
- Latest release
- None published on GitHub
Checked on GitHub on 22 Oct 2026.
Links
Robots that can run it
No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.
Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.