SO-ARM101 ROS2 Bridge

ROS2 workspace and Isaac Sim integration for SO-ARM101 robot hardware interface.

Complete Tutorial

For detailed step-by-step instructions including LeRobot setup, Isaac Sim configuration, and teleoperation, follow this comprehensive tutorial:

SO-ARM101 x Isaac Sim x Isaac Lab Tutorial

Usage with LeRobot

This bridge is designed to work with LeRobot for teleoperation and data collection with SO-ARM101 robots.

First, you need to install LeRobot separately by following their installation instructions and activating the lerobot conda environment.

Contents

ROS2 Workspace (src/)

• jointstatereader: Hardware interface package for SO-ARM101 robot
  • Reads joint states from physical SO-ARM101 robot via USB/serial
  • Publishes to /joint_states topic
  • Provides topic relay functionality for Isaac Lab integration

Isaac Sim Integration (IsaacSim_USD/)

• SO-ARM101-USD.usd: Pre-configured Isaac Sim stage file for SO-ARM101 robot
  • Ready-to-use USD stage with SO-ARM101 robot model
  • ROS2 action graph setup for real-time communication

Quick Start

# Clone this bridge repository
git clone https://github.com/MuammerBay/so-arm101-ros2-bridge.git
cd so-arm101-ros2-bridge

# Build ROS2 workspace
colcon build --packages-select join tstatereader

# Source workspace
source install/setup.bash

# Run hardware interface (with SO-ARM101 connected)
python3 src/jointstatereader/jointstatereader/joint_state_reader.py

Requirements

• ROS2 Humble
• SO-ARM101 robot hardware
• Isaac Sim (for simulation integration)
• LeRobot (installed separately)