ROSClaw Example SO-101

This repository packages the ROSClaw and OpenClaw bringup for a physical SO-101 follower arm.

Layout

Backend/
  ros2_ws/
    src/
      rosclaw_so101_bringup/     # ROSClaw + SO-101 combined bringup package
      so101_follower_control/    # SO-101 follower control helpers and agent bridge
      rosclaw-ros2/              # git submodule
      so101_ros2/                # git submodule

What Is Included

• so101_follower_control contains the physical SO-101 follower bringup, Cartesian goal helper, and agent bridge.
• rosclaw_so101_bringup launches ROSClaw together with the SO-101 follower stack.
• The agent bridge exposes explicit gripper services at /follower/open_gripper and /follower/close_gripper.
• The ROSClaw bringup package ships the SO-101-specific discovery config.

Clone With Submodules

git clone https://github.com/ROSClaw/rosclaw-example-so-101.git
cd rosclaw-example-so-101
git submodule update --init --recursive

Build

Verified on ROS 2 Jazzy. Use the repo-owned build wrapper:

cd Backend/ros2_ws
./build.sh

build.sh bootstraps rosdep, stages local Jazzy-compatible replacements for the upstream system_data_recorder and so101_teleop packages without modifying the so101_ros2 submodule checkout, and then runs colcon build.

Optional perception dependency:

pip install 'google-genai>=1.0.0'

Launch

source /opt/ros/jazzy/setup.bash
source Backend/ros2_ws/install/setup.bash
export GEMINI_API_KEY=your-api-key
ros2 launch rosclaw_so101_bringup bringup.launch.py

Default SO-101 follower bringup values:

• port:=/dev/ttyACM0
• id:=atr-follower
• calibration_dir:=$HOME/.cache/huggingface/lerobot/calibration/robots/so101_follower/atr-follower.json
• cameras:=true
• perception:=true

The combined bringup now launches the SO-101 camera stack and the ROSClaw perception node by default. It expects the USB wrist camera to publish on /follower/cam_front/image_compressed and fails fast if the Gemini dependency, GEMINI_API_KEY, or startup camera frames are missing.

Agent-Facing Control Surfaces

• /follower/agent_state publishes a JSON summary of joint positions, tool pose, and gripper_open_fraction
• /follower/open_gripper and /follower/close_gripper are explicit one-shot Trigger services for agent use
• /follower/gripper_command is a normalized open fraction topic where 0.0 = closed and 1.0 = open
• /follower/cartesian_goal accepts geometry_msgs/msg/PoseStamped
• /follower/arm_controller/follow_joint_trajectory remains available for low-level arm motion goals

Manual Smoke Tests

ros2 service call /follower/open_gripper std_srvs/srv/Trigger
ros2 service call /follower/close_gripper std_srvs/srv/Trigger