MotoROS2 0.1.0
This is release 0.1.0 of MotoROS2 and the first public beta-release.
Downloads
To deploy MotoROS2 on a supported Yaskawa Motoman controller, only the motoros2_0.1.0_....zip file for the target controller and ROS 2 version is needed.
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.
Breaking changes for beta1 participants
Users who previously participated in the closed beta1 test must remove the motoros2_interfaces and industrial_msgs packages from their Colcon workspaces (from the src, build and install spaces), and follow the installation instructions in the Build and installation section in the README of the new yaskawa-global/motoros2_client_interface_dependencies package.
Breaking changes have been introduced in this version of MotoROS2, and failure to update and rebuild the workspace will lead to the inability to receive messages from MotoROS2 and/or crashes of client applications.
The old motoros2_interfaces-beta1 repository will also be archived and will not be updated any more.
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 |
|---|---|---|
| YRC1000 | Humble | 0.1.0 |
| YRC1000 | Galactic | 0.1.0 |
| YRC1000 | Foxy | 0.1.0 |
| YRC1000micro | Humble | 0.1.0 |
| YRC1000micro | Galactic | 0.1.0 |
| YRC1000micro | Foxy | 0.1.0 |
If a controller series is missing from this table, MotoROS2 does not presently support it.
Support for Foxy and Galactic
Please note that as both ROS 2 Foxy and ROS 2 Galactic have reached their EOL dates, support for those versions of ROS 2 will be on a best-effort basis.
Users on Foxy or Galactic are strongly encouraged to upgrade their ROS 2 installations, as compatibility with future MotoROS2 versions can't be guaranteed.
Files
Expand the Assets section below to access the downloads for this MotoROS2 release (click "Show all 17 assets" if some links are not displayed).