https://github.com/ros-industrial/motoman
ROS-Industrial Motoman support (http://wiki.ros.org/motoman)
https://github.com/ros-industrial/motoman
motoman moveit ros ros-industrial urdf
Last synced: 8 months ago
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ROS-Industrial Motoman support (http://wiki.ros.org/motoman)
- Host: GitHub
- URL: https://github.com/ros-industrial/motoman
- Owner: ros-industrial
- Created: 2013-06-12T12:50:36.000Z (almost 13 years ago)
- Default Branch: kinetic-devel
- Last Pushed: 2023-10-20T20:09:37.000Z (over 2 years ago)
- Last Synced: 2023-10-20T22:53:43.222Z (over 2 years ago)
- Topics: motoman, moveit, ros, ros-industrial, urdf
- Language: C++
- Homepage:
- Size: 73 MB
- Stars: 134
- Watchers: 23
- Forks: 187
- Open Issues: 67
-
Metadata Files:
- Readme: README.md
- Contributing: CONTRIBUTING.md
Awesome Lists containing this project
README
# Motoman
[](https://github.com/ros-industrial/motoman/actions?query=workflow%3A%22CI+-+Ubuntu+Bionic%22)
[](https://github.com/ros-industrial/motoman/actions?query=workflow%3A%22CI+-+Ubuntu+Focal%22)
[](https://opensource.org/licenses/Apache-2.0)
[](https://opensource.org/licenses/BSD-3-Clause)
[](http://rosindustrial.org/news/2016/10/7/better-supporting-a-growing-ros-industrial-software-platform)
[ROS-Industrial][] Motoman metapackage. See the [ROS wiki][] page for more information.
The [motoman_experimental][] repository contains additional packages.
## ROS 2
This repository hosts the **ROS 1** version of MotoROS.
If you are looking for ROS 2 support, please visit [Yaskawa-Global/motoros2](https://github.com/yaskawa-global/motoros2).
## Contents
Branch naming follows the ROS distribution they are compatible with. `-devel` branches may be unstable. Releases are made from the distribution branches (`indigo`, `kinetic`).
Older releases may be found in the Github mirror of the old ROS-Industrial [subversion repository][].
## Building
### On newer (or older) versions of ROS
Building the packages on newer (or older) versions of ROS is in most cases possible and supported. For example: building the packages in this repository on Ubuntu Xenial/ROS Kinetic, Ubuntu Bionic/ROS Melodic or Ubuntu Focal/ROS Noetic systems is supported. This will require creating a Catkin workspace, cloning this repository, installing all required dependencies and finally building the workspace.
### Catkin tools
It is recommended to use [catkin_tools][] instead of the default [catkin][] when building ROS workspaces. `catkin_tools` provides a number of benefits over regular `catkin_make` and will be used in the instructions below. All packages can be built using `catkin_make` however: use `catkin_make` in place of `catkin build` where appropriate.
### Building the packages
The following instructions assume that a [Catkin workspace][] has been created at `$HOME/catkin_ws` and that the *source space* is at `$HOME/catkin_ws/src`. Update paths appropriately if they are different on the build machine.
These instructions build the `kinetic-devel` branch on a ROS Kinetic system:
```bash
# change to the root of the Catkin workspace
$ cd $HOME/catkin_ws
# retrieve the latest development version of motoman.
$ git clone -b kinetic-devel https://github.com/ros-industrial/motoman.git src/motoman
# check build dependencies. Note: this may install additional packages,
# depending on the software installed on the machine
$ rosdep update
# be sure to change 'kinetic' to whichever ROS release you are using
$ rosdep install --from-paths src/ --ignore-src --rosdistro kinetic
# build the workspace (using catkin_tools)
$ catkin build
```
### Activating the workspace
Finally, activate the workspace to get access to the packages just built:
```bash
$ source $HOME/catkin_ws/devel/setup.bash
```
At this point all packages should be usable (ie: `roslaunch` should be able to auto-complete package names starting with `motoman_..`). In case the workspace contains additional packages (ie: not from this repository), those should also still be available.
## Installation and usage
Refer to [Working With ROS-Industrial Robot Support Packages][] for information on how to use the files provided by the robot support and MoveIt configuration packages. See also the other pages on the [ROS wiki][].
Refer to the [tutorials][] for information on installation and configuration of the controller-specific software components.
[ROS-Industrial]: http://wiki.ros.org/Industrial
[ROS wiki]: http://wiki.ros.org/motoman
[motoman_experimental]: https://github.com/ros-industrial/motoman_experimental
[subversion repository]: https://github.com/ros-industrial/swri-ros-pkg
[Catkin workspace]: http://wiki.ros.org/catkin/Tutorials/create_a_workspace
[catkin]: http://wiki.ros.org/catkin
[catkin_tools]: https://catkin-tools.readthedocs.io/en/latest
[Working With ROS-Industrial Robot Support Packages]: http://wiki.ros.org/Industrial/Tutorials/WorkingWithRosIndustrialRobotSupportPackages
[tutorials]: http://wiki.ros.org/motoman_driver/Tutorials