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Welcome to the motoman wiki! Here you will find links to the wiki for the Yaskawa HC10DT robot + YRC1000micro + a smart pendant to perform-

• Joint trajectory streaming
• visualizing the HC10DT robot in RViz during motion
• MoveIT with the HC10DT robot

Prerequisites

• ROS1 installed computer.
• Static IP setup in the computer to be in the same subnet of the robot.
  • See here to find the IP of the robot controller
• LAN connection between ROS1 computer and the YRC1000micro robot controller
• clone the repository and compile the ros package
  • mkdir -p $HOME/motoman_ws/src && cd $HOME/motoman_ws/src
  • git clone https://github.com/uoft-cs-robotics/motoman && cd $HOME/motoman_ws
  • catkin_make