This is release 0.2.0 of MotoROS2.
This release requires at least version 0.2.0 of motoros2_interfaces.
Downloads
To deploy MotoROS2 on a supported Yaskawa Motoman controller, only the motoros2_0.2.0_...zip file for the target controller and ROS 2 version is needed.
See the Assets section below for links to the available .zips with MotoROS2 binaries.
For MotoROS2 customization, download the M+ libmicroros release for the target controller and ROS 2 version from micro_ros_motoplus/Releases, in addition to the source code (or alternatively: git clone this repository).
Refer to Building from source for information on how to configure your development environment.
Installation
Please refer to the Installation section in the main README. Make sure to have checked the General requirements.
Changes
Refer to the changelog for information about what changed since the previous release.
Supported versions of ROS 2
Refer to the following table to determine which version(s) of ROS 2 are supported by which Yaskawa controller series and which version(s) of MotoROS2.
| Controller | ROS 2 | MotoROS2 |
|---|---|---|
| DX200 | Jazzy | 0.2.0 |
| DX200 | Humble | 0.2.0 |
| DX200 | Galactic | 0.2.0 |
| DX200 | Foxy | 0.2.0 |
| YRC1000 | Jazzy | 0.2.0 |
| YRC1000 | Humble | 0.2.0 |
| YRC1000 | Galactic | 0.2.0 |
| YRC1000 | Foxy | 0.2.0 |
| YRC1000micro | Jazzy | 0.2.0 |
| YRC1000micro | Humble | 0.2.0 |
| YRC1000micro | Galactic | 0.2.0 |
| YRC1000micro | Foxy | 0.2.0 |
If a controller series is missing from this table, MotoROS2 does not presently support it.
Support for Foxy and Galactic
Please note this is the last MotoROS2 release with support for ROS 2 Foxy and Galactic. Future releases will not include binaries for these versions.
As both ROS 2 Foxy and ROS 2 Galactic have reached their EOL dates, support for those versions of ROS 2 will not continue.
Users on Foxy or Galactic are strongly encouraged to upgrade their ROS 2 installations.
Files
Expand the Assets section below to access the downloads for this MotoROS2 release (click "Show all .. assets" if some files are not displayed).