Brings up the physical SO-101 leader and follower arms: robot_state_publisher

• ros2_control for each arm, controller spawners, and a static TF layout placing both arms side-by-side in the 'world' frame. It does NOT include teleoperation (separate snap) or RViz.

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.