0.1.06566.3 MB
unset
strict
core24
SO-101 leader/follower hardware bringup (ROS 2 Jazzy)
Brings up the physical SO-101 leader and follower arms: robotstatepublisher
+ ros2control for each arm, controller
spawners, and a static TF layout placing
both arms side-by-side in the 'world' frame.
It does NOT include teleoperation (separate snap) or RViz.
Configure via
Requires raw USB access to the Feetech serial adapters (character device
permissions still come from the host's udev rule, e.g.
so101bringup/udev/99-so101-serial.rules, see https://snapcraft.io/docs/reference/interfaces/raw-usb-interface):
Check status with
+ ros2control for each arm, controller
spawners, and a static TF layout placing
both arms side-by-side in the 'world' frame.
It does NOT include teleoperation (separate snap) or RViz.
Configure via
snap set: snap set so101-bringup leader-usb-port=/dev/so101 snap set so101-bringup follower-usb-port=/dev/so101follower snap set so101-bringup hardware-type=real # real | mock snap set so101-bringup ros-domain-id=0 snap set so101-bringup rmw-implementation=rmwfastrtpscppRequires raw USB access to the Feetech serial adapters (character device
permissions still come from the host's udev rule, e.g.
so101bringup/udev/99-so101-serial.rules, see https://snapcraft.io/docs/reference/interfaces/raw-usb-interface):
snap connect so101-bringup:raw-usbCheck status with
snap services so101-bringup / snap logs so101-bringup.Update History
0.1.0 (6)5 Nov 2026, 08:45 UTC
18 Aug 2026, 09:02 UTC
16 Sept 2026, 14:08 UTC
5 Nov 2026, 08:45 UTC