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so_arm_100_hardware

  • Software
  • Robot arms and industry
  • Driver or SDK

A ROS 2 Control hardware interface plugin for the SO-ARM100 low-cost 5-DoF robotic manipulator, usable with a real robot over serial or in simulation over ROS topics.

Source on GitHub: github.com/brukg/so_arm_100_hardware (opens in a new tab). Facts read at commit 088e355 (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 088e355 (opens in a new tab), on 16 Oct 2026.

Commercial use
Yes

What it does

  • Provides a ROS 2 Control hardware interface plugin for the SO-ARM100 5-DoF arm.
  • Can talk to the physical robot over direct serial communication.
  • Can run in simulation by exchanging joint commands and feedback over ROS topics.
  • Offers position control for all joints, with thread-safe feedback handling.
  • Runs its ROS communication on a dedicated executor thread with a lifecycle-managed node.
  • Configured via a ROS 2 Control YAML file selecting serial or topic mode, port, baudrate and servo speed/acceleration.

Written by Robotheca from the project's README (opens in a new tab) at commit 088e355.

Getting started

Difficulty
Beginner
Hardware it needs, as the project states it
A SO-ARM100 robot connected to a serial port (for serial mode, e.g.

Maintenance

Status
Maintained: a commit in the last 12 months
Newest commit
20 Mar 2026 on main
Latest release
None published on GitHub

Checked on GitHub on 16 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.