Star Arm 102 Configuration Tools
This page summarizes common software, drivers, and inspection commands for Star Arm 102. It is useful for quick troubleshooting during first connection, serial port exceptions, servo parameter checks, or before ROS2 configuration.
Recommended Tools
| Tool | Purpose | Entry |
|---|---|---|
| CH340 USB Driver | Recognize the UC-01 USB serial port device | Download Page |
| Python SDK | Direct Leader / Follower teleoperation testing | Python SDK |
| ROS2 Humble | MoveIt2, Gazebo, real robotic arm driver, and teaching recording | ROS2 |
| PC configuration Software | Maintain servo ID, mode, parameters, status, and firmware | PC configuration Software |
| Web configuration Tool | Set basic parameters, read status, and test communication in a browser | Web configuration Tool |
| serial port Tool Assistant | Manually send commands and read returned data | serial port Tool Assistant |
Serial Port Check Commands
# 查看串口设备
ls -l /dev/ttyUSB*
# 查看 USB 设备
lsusb
# 查看串口相关日志
sudo dmesg | grep ttyUSB
# 临时赋予串口读写权限
sudo chmod 777 /dev/ttyUSB*
Common ROS2 Troubleshooting Commands
# 重新加载 ROS2 环境
source /opt/ros/humble/setup.bash
source ~/Star-Arm-102/ROS2_HUMBLE/install/setup.bash
# 重新安装 serial 库
sudo apt install --reinstall python3-serial
# 清理 Gazebo / ROS2 残留进程
killall -9 gazebo gzserver gzclient ros2
Configuration Recommendations
- When connecting a new machine for the first time, use
ls -l /dev/ttyUSB*to confirm that both Leader and Follower are recognized. - After the Python SDK runs successfully, move on to ROS2 or LeRobot. This makes it easier to determine whether an issue is in the hardware connection or the upper-layer software.
- For configuration servo ID, mode, or firmware-related items, use the PC configuration software first.
- If the serial port device occasionally disappears, first check the USB cable, power supply, and UC-01, and then check the system logs.
For more issues, see FAQ.