motoros2_client_interface_dependencies

Overview

This package exists to facilitate installation of the ROS 2 packages containing message, service and action definitions used by client applications to communicate with a MotoROS2 server running on a Yaskawa Motoman industrial robot controller.

This package is an empty package and does not provide any interface definitions itself, nor does it host any code. Its sole task is to help rosdep install the MotoROS2 client dependencies on a (companion) PC.

Supported ROS 2 versions

This package supports ROS 2 Foxy, Galactic and Humble. It is expected to also build successfully on other versions of ROS 2, but has only been tested on the previously mentioned releases.

Please also take the compatibility of MotoROS2 with various ROS 2 releases into account. This information can be found in the General Requirements section of the main readme of MotoROS2 itself.

Build and installation

If necessary, create a Colcon / ROS 2 workspace and place a copy of the repository in the src space of that workspace (use git clone or download a .zip or .tar.gz from Github).

Linux

The following instructions show an example workflow which would add motoros2_client_interface_dependencies to an existing Colcon workspace at $HOME/colcon_ws, install the dependencies and finally build the workspace for ROS 2 Humble.

This procedure assumes that base ROS 2 packages and development tools have been installed and sourced from the command line. Please refer to Installation / Ubuntu (Debian packages) for details on how to install ROS 2 Humble on Ubuntu. If you are using a different distribution of Linux, or a different version of ROS 2, make sure to refer to the appropriate documentation for that combination.

Update commands where necessary if a different ROS 2 version should be used or the Colcon workspace is in a different location.

If you run into errors (such as Command [...] not found), please ensure the ros-dev-tools package has been properly installed.

As follows:

# change to the root of the Colcon workspace
cd $HOME/colcon_ws

# retrieve the latest development version of this package
git clone \
  -b master \
  https://github.com/yaskawa-global/motoros2_client_interface_dependencies.git \
  src/motoros2_client_interface_dependencies

# these need to be checked out from their repositories as they haven't
# been released yet
vcs import \
  --input src/motoros2_client_interface_dependencies/source_deps.repos \
  src/

# check build dependencies. First update databases
sudo apt update
source /opt/ros/humble/setup.bash
rosdep update --rosdistro=$ROS_DISTRO

# now install all dependencies.
# Note: this may install additional packages, depending on the software
# already installed on the machine.
# Note2: this should not print any warnings or errors
rosdep install \
  --from-paths $HOME/colcon_ws/src/ \
  --ignore-src \
  --rosdistro $ROS_DISTRO

# build the package (including any dependencies). To build the entire
# workspace, simply run 'colcon build'
colcon build \
  --packages-up-to motoros2_client_interface_dependencies \
  --cmake-args -DCMAKE_BUILD_TYPE=Release

If there were no warnings or errors, the workspace should now be activated using:

source $HOME/colcon_ws/install/local_setup.bash

At this point all messaging-related dependencies of MotoROS2 should be installed and can be used by client applications.

Windows

TODO.

Troubleshooting

Please find troubleshooting and other information in the motoros2 repository.