Build so101_ros2

Bootstrap the workspace

Create or reuse a ROS 2 workspace and clone the repository into the src directory:

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone --recurse-submodules https://github.com/nimiCurtis/so101_ros2.git
cd so101_ros2

Run the helper script once to install system dependencies and append the ROS 2 sourcing statements to your shell configuration:
```
./build.sh
```
The script can be safely rerun if you need to refresh dependencies.
Source your shell configuration or open a new terminal to load the ROS2 environment.

Expose Lerobot to ROS 2

Export the Conda site-packages directory so the bridge nodes can import Lerobot modules at runtime:

export LECONDA_SITE_PACKAGES=<conda_root>/envs/lerobot_ros2/lib/python3.10/site-packages

For persistent setups create a symbolic link from the Lerobot sources into the bridge install path inside the workspace:

export LEROBOT_SRC=<path to lerobot>/src/lerobot
export SO101BRIDGE_INSTALL_SITE_PACKAGES=<ros2_ws>/install/so101_ros2_bridge/lib/python3.10/site-packages/lerobot
ln -s $LEROBOT_SRC $SO101BRIDGE_INSTALL_SITE_PACKAGES

Recreate the link after rebuilding to ensure it points to the latest install folder.

Camera support

Two camera backends are supported out of the box:

USB cameras – installed automatically through rosdep in the initial build. Install manually if required:
```
sudo apt install ros-humble-usb-cam
```
Intel RealSense cameras
- Install the librealsense SDK from the official repo.
- The ROS2 RealSense lib is installed automatically through rosdep in the initial build.
  Install manually if required:
  
  sudo apt install ros-humble-realsense2-*

Adjust the camera parameter files in so101_bringup/config to select the correct device paths and settings before launching.