MotoROS2

https://github.com/yaskawa-global/motoros2
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MotoROS2 is a ROS 2 driver that enables Yaskawa Motoman industrial robot controllers to be...
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### Build micro-ROS Agent from source on Linux

Source: https://github.com/yaskawa-global/motoros2/blob/main/README.md

Commands to set up a Colcon workspace, clone the micro-ROS setup repository, and build the Agent for the Jazzy distribution.

```shell
source /opt/ros/jazzy/setup.bash
sudo apt update
rosdep update --rosdistro=$ROS_DISTRO
mkdir -p $HOME/micro_ros_agent_ws/src
git clone \
  -b jazzy \
  https://github.com/micro-ROS/micro_ros_setup.git \
  $HOME/micro_ros_agent_ws/src/micro_ros_setup
rosdep install \
  --from-paths $HOME/micro_ros_agent_ws/src \
  --ignore-src \
  -y
cd $HOME/micro_ros_agent_ws
colcon build
source install/local_setup.bash
ros2 run micro_ros_setup create_agent_ws.sh
ros2 run micro_ros_setup build_agent.sh
```

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### Install yamllint in a Python virtual environment

Source: https://github.com/yaskawa-global/motoros2/blob/main/README.md

Sets up a Python virtual environment and installs yamllint to ensure a compatible version is used for configuration verification.

```shell
python3 -m venv $HOME/venv_yamllint
source $HOME/venv_yamllint/bin/activate
(venv_yamllint) pip3 install yamllint
```

--------------------------------

### Start micro-ROS Agent with Docker

Source: https://github.com/yaskawa-global/motoros2/blob/main/README.md

Starts the Jazzy version of the micro-ROS Agent container. Ensure the --port parameter matches the agent_port_number in motoros2_config.yaml.

```shell
docker run \
  -it \
  --rm \
  --net=host \
  --user=$(id -u):$(id -g) \
  microros/micro-ros-agent:jazzy \
    udp4 \
    --port 8888
```

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### Update moveit_controllers.yaml for MotoROS2

Source: https://github.com/yaskawa-global/motoros2/blob/main/README.md

Example configuration for a robot with a single group and 6 joints, showing the required controller_names and follow_joint_trajectory settings.

```yaml
...

controller_names:
  - follow_joint_trajectory

follow_joint_trajectory:
  action_ns: ""
  type: FollowJointTrajectory
  default: true
  joints:
   - joint_1
   - joint_2
   - joint_3
   - joint_4
   - joint_5
   - joint_6

...
```

--------------------------------

### Configure ufw firewall rules for MotoROS2

Source: https://github.com/yaskawa-global/motoros2/blob/main/doc/network_configuration.md

Example commands to permit UDP communication between the host PC and the controller on specific ports. These rules must have higher priority than any blocking rules.

```shell
sudo ufw allow out from 192.168.1.15 to 192.168.1.31 proto udp
sudo ufw allow from 192.168.1.31 to 192.168.1.15 port 8888 proto udp
sudo ufw allow from 192.168.1.31 to 192.168.1.15 port 21789 proto udp
sudo ufw allow from 192.168.1.31 to 192.168.1.255 port 21789 proto udp
```

--------------------------------

### Configure joint_names for a 7-joint single group system

Source: https://github.com/yaskawa-global/motoros2/blob/main/doc/faq.md

Example configuration for a single group system with 7 joints, demonstrating the inclusion of the E joint and group ID prefixes.

```yaml
joint_names:
- [r1/joint_s, r1/joint_l, r1/joint_u, r1/joint_r, r1/joint_b, r1/joint_t, r1/joint_e]
```

--------------------------------

### Configure joint_names for a robot, track, and positioner

Source: https://github.com/yaskawa-global/motoros2/blob/main/doc/faq.md

Example configuration for a controller with 3 groups consisting of a robot (R1), a track (B1), and a single axis positioner (S1).

```yaml
joint_names:
- [joint_s, joint_l, joint_u, joint_r, joint_b, joint_t]
- [track_s]
- [turn_table_s]
```

--------------------------------

### start_point_queue_mode

Source: https://github.com/yaskawa-global/motoros2/blob/main/doc/ros_api.md

Attempts to enable servo drives, activate the point-queue motion mode, and set the job-cycle mode to allow execution of INIT_ROS.

```APIDOC
## start_point_queue_mode

### Description
Attempts to enable servo drives, activate the point-queue motion mode, and set the job-cycle mode to allow execution of INIT_ROS. This allows the queue_traj_point service to execute incoming QueueTrajPoint requests.

### Service Type
motoros2_interfaces/srv/StartPointQueueMode

### Usage
Call this service to start point queue mode. This service may fail if controller state prevents it from transitioning to trajectory mode. Inspect the result_code to determine the cause. Check the relevant fields of the RobotStatus messages to determine overall controller status. The reset_error service can be used to attempt to reset errors and alarms.
```

--------------------------------

### Build micro-ROS Agent from source on Windows

Source: https://github.com/yaskawa-global/motoros2/blob/main/README.md

Commands to set up a Colcon workspace and build the micro-ROS Agent using Visual Studio Developer Command Prompt.

```batch
call "C:\path\to\ros2-jazzy\local_setup.bat"
mkdir "%USERPROFILE%\micro_ros_agent_ws\src"
git clone ^
  -b jazzy ^
  https://github.com/micro-ROS/micro_ros_msgs.git ^
  "%USERPROFILE%\micro_ros_agent_ws\src\micro_ros_msgs"
git clone ^
  -b jazzy ^
  https://github.com/micro-ROS/micro-ROS-Agent.git ^
  "%USERPROFILE%\micro_ros_agent_ws\src\micro-ROS-Agent"
cd "%USERPROFILE%\micro_ros_agent_ws"
colcon build ^
  --merge-install ^
  --packages-up-to micro_ros_agent ^
  --cmake-args ^
  "-DUAGENT_BUILD_EXECUTABLE=OFF" ^
  "-DUAGENT_P2P_PROFILE=OFF" ^
  "--no-warn-unused-cli"
```

--------------------------------

### Ping the robot controller

Source: https://github.com/yaskawa-global/motoros2/blob/main/doc/network_configuration.md

Use this command to test if the client PC and the robot controller are connected. This example uses the default controller IP for LAN2.

```shell
ping 192.168.1.31
```

--------------------------------

### start_traj_mode

Source: https://github.com/yaskawa-global/motoros2/blob/main/doc/ros_api.md

Attempts to enable servo drives, activate trajectory mode, and set the job-cycle mode to allow execution of INIT_ROS.

```APIDOC
## start_traj_mode

### Description
Attempts to enable servo drives, activate trajectory mode, and set the job-cycle mode to allow execution of INIT_ROS. This allows the action server (follow_joint_trajectory) to execute incoming FollowJointTrajectory action goals.

### Service Type
motoros2_interfaces/srv/StartTrajMode

### Usage
Call this service to start trajectory mode. This service may fail if controller state prevents it from transitioning to trajectory mode. Inspect the result_code to determine the cause. Check the relevant fields of the RobotStatus messages to determine overall controller status. The reset_error service can be used to attempt to reset errors and alarms.
```
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