A ROS 2 workspace template for Yaskawa/Motoman robot integration. This workspace includes the necessary dependencies for simulation and control of Motoman robots.

This workspace includes the following packages as submodules:

• motoros2_interfaces - Official MotoROS2 interface definitions
• industrial_core - ROS-Industrial core messages (ros2_msgs_only branch)
• motoman_ros2_support_packages - Yaskawa's ROS 2 support packages for Motoman robots
• motoman_moveit_config - MoveIt configuration for Motoman robots

git clone --recursive https://github.com/ivanrulik/ros2_ws_yaskawa.git
cd ros2_ws_yaskawa

If you've already cloned without --recursive, initialize the submodules:

git submodule update --init --recursive

colcon build
source install/setup.bash

A devcontainer configuration is included for development using Docker/VS Code.

Refer to individual submodule repositories for their respective licenses.