Brings up the physical SO-101 leader and follower arms: robot_state_publisher
Configure via snap set:
snap set so101-bringup leader-usb-port=/dev/so101_leader
snap set so101-bringup follower-usb-port=/dev/so101_follower
snap set so101-bringup hardware-type=real # real | mock
snap set so101-bringup ros-domain-id=0
snap set so101-bringup rmw-implementation=rmw_fastrtps_cpp
Requires raw USB access to the Feetech serial adapters (character device permissions still come from the host's udev rule, e.g. so101_bringup/udev/99-so101-serial.rules, see https://snapcraft.io/docs/reference/interfaces/raw-usb-interface):
snap connect so101-bringup:raw-usb
Check status with snap services so101-bringup / snap logs so101-bringup.
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Snaps are applications packaged with all their dependencies to run on all popular Linux distributions from a single build. They update automatically and roll back gracefully.
Snaps are discoverable and installable from the Snap Store, an app store with an audience of millions.
Snapd can be installed from Manjaro’s Add/Remove Software application (Pamac), found in the launch menu. From the application, search for snapd, select the result, and click Apply.
Alternatively, snapd can be installed from the command line:
sudo pacman -S snapd
Once installed, the systemd unit that manages the main snap communication socket needs to be enabled:
sudo systemctl enable --now snapd.socket
To enable classic snap support, enter the following to create a symbolic link between /var/lib/snapd/snap and /snap:
sudo ln -s /var/lib/snapd/snap /snap
Either log out and back in again, or restart your system, to ensure snap’s paths are updated correctly.
To install so101-bringup, simply use the following command:
sudo snap install so101-bringup
Browse and find snaps from the convenience of your desktop using the snap store snap.
Interested to find out more about snaps? Want to publish your own application? Visit snapcraft.io now.