<h1><img src="doc/img/logo.png" alt="MotoROS2 logo" style="width: 70%" /></h1>

Overview

This repository hosts the source code of the MotoROS2 project. Together with the motoros2_interfaces repository, MotoROS2 is all that's needed to allow a Yaskawa Motoman industrial robot controller to be controlled by a ROS 2 application.

The following sections document how to download, install, configure, use and troubleshoot MotoROS2.

Quickstart

check prerequisites
download the latest release and extract onto USB stick
edit the configuration file, at least Agent IP and port
insert USB stick into pendant
Maintenance mode: load the MotoPlus application onto the controller:
- DX200: mr2_dx2_*.out
- YRC1000: mr2_yrc1_*.out
- YRC1000micro: mr2_yrc1m_*.out
Online mode:
- DX200: insert USB stick with motoros2_config.yaml into CN106 in the controller cabinet
- YC1000[micro]: load motoros2_config.yaml via USER DEFINED FILES
start an instance of the micro-ROS Agent on a PC
reboot controller
verify MotoROS2 is running
read about known issues and limitations
troubleshoot problems

Quickstart
General Requirements
- Checking the system software version
Option Function compatibility
Download
Installation
- Checking MotoPlus configuration
- Installing MotoROS2 out file
Building from source
Example INFORM jobs
Understanding the micro-ROS Agent
Configuration
Running the micro-ROS Agent
- Using Docker (Linux Only)
- Using the ROS 2 package
Verifying successful installation
Usage
ROS API
Default QoS settings
Known issues & limitations
Provisional roadmap
Frequently Asked Questions
Troubleshooting

General Requirements

The following general requirements must be met in order to be able to use MotoROS2 with a Yaskawa Motoman robot controller:

controller series: DX200, YRC1000, or YRC1000micro
minimum versions of system software:
- DN2.44.00-00 for DX200
- YAS2.80.00-00 for YRC1000
- YBS2.45.00-00 for YRC1000micro
the controller must have a correctly configured network connection:
- DX200 and YRC1000micro: LAN
- YRC1000: either LAN2 or LAN3
ROS 2 version: Foxy, Galactic, Humble, or Jazzy. MotoROS2 does not support ROS 2 Iron Irwini nor Rolling Ridley.
Docker or a from-source build of the micro-ROS Agent
FastDDS as RMW (even when using ROS 2 Galactic)

Checking the system software version

To check the version of the system software:

touch {MAIN MENU} on the pendant keypad
touch [System Info]→[Version]

Look for the version number starting with DN, YAS or YBS.

Option Function compatibility

The current version of MotoROS2 (0.2.1) is not compatible with the following Option Function(s) and/or other MotoPlus application(s):

Simple Connect

Simple Connect is an application installed by Yaskawa America to manage peripheral equipment in a robotic work cell. It is primarily installed on robots that were purchased with an arc-welding configuration. This application is not compatible with MotoROS2 at this time and must be removed to run MotoROS2.
Absolute Accuracy Compensation

This feature improves accuracy of supported robots when performing Cartesian motions from INFORM jobs. MotoROS2 currently does not support Cartesian motion and therefore can't benefit from Absolute Accuracy Compensation. Please refer to Yaskawa-Global/motoros2#206 for an investigation into the compatibility of MotoROS2 with controllers with Absolute Accuracy Compensation enabled.

Please post questions about compatibility of MotoROS2 with specific controller features, Option Functions and/or MotoPlus applications in the Discussion forum. Include information on the specific controller and robot model, as well as system software version and information on the MotoPlus application and/or controller feature in question.

Download

Downloading the files

All MotoROS2 releases are available from the Releases page.

Each release is a .zip, which contains the main executable (.out), a template configuration file (.yaml) and the INFORM jobs (several .jbis).

Save the ZIP file to a convenient location.

Extracting the files

Extract the .zip file somewhere to a temporary location.

Note that after installation, neither the .zip itself, nor any of the files in it are needed any more, as the driver node itself runs on the Yaskawa Motoman controller.

Verifying integrity of the download

Check the integrity of the downloaded binary to avoid loading corrupted or incomplete binaries onto the controller.

The example command below uses md5sum on Linux, but any utility which can calculate MD5 hashes could be used, on any OS.

To calculate the MD5 hash on Debian/Ubuntu for the main MotoROS2 binary, run the following commands (on other OS, use the appropriate commands or tools instead):

$ cd /path/to/where/the/binary/was/saved
$ md5sum -b mr2_yrc1_j.out
6b7c0cae3e13f266509615412e46e57b mr2_yrc1_j.out

Compare the output of md5sum when run against the binary downloaded in the previous section (Downloading the files) with the values listed in the following table. The values must match exactly.

|Controller |ROS 2 Version | File |Version | MD5 hash | |:--------------|:-----------------|:------------------|:-----------|:-----------------------------------| | DX200 | Humble | mr2_dx2_h.out | 0.2.1 | 6672e218b60c42f00ce335dc4a977ee9 | | DX200 | Jazzy | mr2_dx2_j.out | 0.2.1 | f31673a8559e331719f8b25f174419a3 | | YRC1000 | Humble | mr2_yrc1_h.out | 0.2.1 | fec0137dc4b3dd4b9c5e169d78211eda | | YRC1000 | Jazzy | mr2_yrc1_j.out | 0.2.1 | 6b7c0cae3e13f266509615412e46e57b | | YRC1000micro | Humble | mr2_yrc1m_h.out | 0.2.1 | 6666de4b1bb41859a543f5ca8a413a98 | | YRC1000micro | Jazzy | mr2_yrc1m_j.out | 0.2.1 | c421fa95d647ab77a5f2a1babed06fa2 |

If the hash matches, proceed with the next section, Installation.

If the hash does not match, download the correct version from the Releases page again (to exclude a failed download was the cause), extract it an

Motoros2

Install / Use

README