📦
Version0.1.0
Revision3
Size7.1 MB
Licenseunset
Confinementstrict
Basecore24

SO-101 leader->follower direct teleop bridge (ROS 2 Jazzy)

Mirrors the SO-101 leader arm's jointstates into the follower's
controller topics.

Runs as an always-on daemon. Configure via snap set:

 snap set so101-teleop leader-topic=/leader/jointstates
 snap set so101-teleop jtc-topic=/follower/armtrajectorycontroller/jointtrajectory
 snap set so101-teleop ros-domain-id=0
 snap set so101-teleop rmw-implementation=rmwfastrtpscpp


snap install so101-bringup so101-teleop works together with no
configuration. If so101-safety is also installed in mode=jtc, route the
trajectory through its gate instead of straight at the controller:

 snap set so101-teleop jtc-topic=/safety/follower/armtrajectory_in


Check status with snap services so101-teleop / snap logs so101-teleop.

Update History

0.1.0 (3)
5 Nov 2026, 08:45 UTC

Published18 Aug 2026, 08:54 UTC

Last updated24 Aug 2026, 13:15 UTC

First seen5 Nov 2026, 08:45 UTC