# Example: Yaskawa GP50
This workshop creates a MoveIt configuration package for the Yaskawa Motoman
GP50 and uses the generated package to plan motions in RViz.
## Prerequisites
This tutorial uses ROS 2 Humble and assumes that:
- the workspace is located at `/home/ros/ros2_ws`;
- `motoman_gp50_support` is available in the workspace source directory; and
- MoveIt and the MoveIt Setup Assistant are installed.
## 1. Build the robot support package
Open a terminal and build the GP50 description and its dependencies:
```bash
source /opt/ros/humble/setup.bash
cd /home/ros/ros2_ws
colcon build --packages-up-to motoman_gp50_support
source install/setup.bash
```
## 2. Start the MoveIt Setup Assistant
```bash
ros2 run moveit_setup_assistant moveit_setup_assistant
```
Select **Create New MoveIt Configuration Package** and load this Xacro file:
```text
/home/ros/ros2_ws/src/motoman_ros2_support_packages/motoman_gp50_support/urdf/gp50.xacro
```
The robot model should appear in the preview.
## 3. Generate the self-collision matrix
Open **Self-Collisions**, generate the collision matrix, and review the link
pairs disabled because they are adjacent or never collide.
The GP50 is a fixed industrial arm. A virtual joint is unnecessary when its
base is already fixed by the robot description.
## 4. Configure the planning group
Open **Planning Groups** and select **Add Group**.
Configure the group with:
- Group name: `gp50_arm`
- Kinematic solver: `kdl_kinematics_plugin/KDLKinematicsPlugin`
- Search resolution: `0.005`
- Search timeout: `0.005`
- Default planner: `RRTConnect`
Add a kinematic chain using:
- Base link: `base_link`
- Tip link: `tool0`
Save the group after selecting both links.
## 5. Define robot poses
Open **Robot Poses** and add useful named states for `gp50_arm`. Define `HOME`
with all six joints at zero.
Add an `UP` pose by adjusting the joints to the required upright
configuration.
Review the saved `HOME`, `UP`, and `DOWN` poses before continuing.
## 6. Configure ros2_control
Open **ros2_control URDF Modifications**. Add a `position` command interface
and `position` and `velocity` state interfaces for the six arm joints.
## 7. Configure the controllers
Open **ROS 2 Controllers** and use **Auto Add JointTrajectoryController
Controllers For Each Planning Group**. This creates a trajectory controller for
`gp50_arm`.
Open **MoveIt Controllers** and auto-add the corresponding
`FollowJointTrajectory` controller. Confirm that `gp50_arm_controller` contains
`joint_1` through `joint_6`.
Skip **Perception** unless the robot uses a configured 3D sensor. Add your name
and email under **Author Information**.
## 8. Generate the configuration package
Open **Launch Files** and select the launch files required for the demo. The
warehouse database launch file is optional.
Open **Configuration Files** and use this output directory:
```text
/home/ros/ros2_ws/src/yaskawa_gp50_moveit_config
```
Review the generated files and select **Generate Package**.
## 9. Check the joint limits
Open the generated file:
```text
/home/ros/ros2_ws/src/yaskawa_gp50_moveit_config/config/joint_limits.yaml
```
MoveIt Humble expects floating-point joint-limit values. Replace integer values
such as `2` or `0` with `2.0` or `0.0` where required.
## 10. Build and run the demo
Build the generated package and source the workspace again:
```bash
cd /home/ros/ros2_ws
colcon build --packages-up-to yaskawa_gp50_moveit_config
source install/setup.bash
```
Launch the MoveIt demo:
```bash
ros2 launch yaskawa_gp50_moveit_config demo.launch.py
```
In the RViz **MotionPlanning** panel, select `gp50_arm` as the planning group.
Choose one of the named states, then use **Plan** or **Plan & Execute** to test
the generated configuration.
## GP50 MoveIt demonstrations
### Demonstration 1
### Demonstration 2
Add a box as a collider:
And regenerate the plan: