# SO-ARM ROS2 URDF Package

A complete ROS2 package for the SO-ARM101 robotic arm with URDF description.

## 📋 Overview

This package provides a complete ROS2 implementation for the SO-ARM101 robotic arm, including:
- URDF robot description with visual and collision meshes
- RViz visualization with pre-configured displays
- Launch files for easy robot visualization
- Integration with MoveIt for motion planning
- Joint state publishers for interactive control

## 🎯 Original Source
https://github.com/TheRobotStudio/SO-ARM100/tree/main/Simulation/SO101


## 🚀 Key Improvements Made

### 1. **Complete ROS2 Package Structure**
- ✅ Proper `package.xml` with all necessary dependencies
- ✅ CMakeLists.txt for ROS2 build system
- ✅ Organized directory structure following ROS2 conventions

### 2. **Enhanced Visualization**
- ✅ Fixed mesh file paths for proper package integration


### Build Instructions
1. Clone this repository into your ROS2 workspace:
   ```bash
   cd ~/your_ros2_ws/src
   git clone <your-repo-url> so_arm_description
   ```

2. Build the package:
   ```bash
   cd ~/your_ros2_ws
   colcon build --packages-select so_arm_description
   source install/setup.bash
   ```