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readme: list (in)compatibility with specific controller features #208

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Feb 1, 2024
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readme: list (in)compatibility with specific controller features #208

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29 changes: 20 additions & 9 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -50,6 +50,7 @@ The following sections document how to download, install, configure, use and tro
- [General Requirements](#general-requirements)
- [Checking the system software version](#checking-the-system-software-version)
- [Checking MotoPlus configuration](#checking-motoplus-configuration)
- [Option Function compatibility](#option-function-compatibility)
- [Download](#download)
- [Downloading the files](#downloading-the-files)
- [Extracting the files](#extracting-the-files)
Expand Down Expand Up @@ -82,7 +83,6 @@ The following sections document how to download, install, configure, use and tro
- [No support for partial goals](#no-support-for-partial-goals)
- [Upper limit to publishing frequency](#upper-limit-to-publishing-frequency)
- [Incorrect transform tree origin with multi-robot setups](#incorrect-transform-tree-origin-with-multi-robot-setups)
- [Not compatible with Simple Connect](#not-compatible-with-simple-connect)
- [Memory leak](#memory-leak)
- [Provisional roadmap](#provisional-roadmap)
- [Frequently Asked Questions](#frequently-asked-questions)
Expand Down Expand Up @@ -126,6 +126,25 @@ Use the following steps to verify MotoPlus has been correctly configured for Mot
1. move to `MotoPlus FUNC.`, make sure it is set to `USED`. If it isn't, set it to `USED`
1. move cursor down to `MOTOMAN DRIVER` and make sure it is set to `USED`. If it isn't, set it to `USED`

## Option Function compatibility

The current version of MotoROS2 (`0.1.2`) is ***not*** compatible with the following Option Function(s) and/or other MotoPlus application(s):

- Simple Connect

*Simple Connect* is an application installed by Yaskawa America to manage peripheral equipment in a robotic work cell.
It is primarily installed on robots that were purchased with an arc-welding configuration.
This application is not compatible with MotoROS2 at this time and must be removed to run MotoROS2.

- Absolute Accuracy Compensation

This feature improves accuracy of supported robots when performing Cartesian motions from INFORM jobs.
MotoROS2 currently does not support Cartesian motion and therefore can't benefit from *Absolute Accuracy Compensation*.
Please refer to [Yaskawa-Global/motoros2#206](https://github.com/Yaskawa-Global/motoros2/issues/206) for an investigation into the compatibility of MotoROS2 with controllers with *Absolute Accuracy Compensation* enabled.

Please post questions about compatibility of MotoROS2 with specific controller features, Option Functions and/or MotoPlus applications in the [Discussion](https://github.com/Yaskawa-Global/motoros2/discussions/categories/q-a) forum.
Include information on the specific controller and robot model, as well as system software version and information on the MotoPlus application and/or controller feature in question.

## Download

### Downloading the files
Expand Down Expand Up @@ -784,14 +803,6 @@ Refer to the relevant Yaskawa Motoman documentation for more information on how

After robot-calibration, the transform between the shared `world` frame and each robot's `base` frame will be known, and MotoROS2 will include it in the transforms it broadcasts.

### Not compatible with Simple Connect

**Description**: *Simple Connect* is an application installed by Yaskawa America to manage peripheral equipment in a robotic work cell.
It is primarily installed on robots that were purchased with an arc-welding configuration.
This application is not compatible with MotoROS2 at this time.

**Work-around**: none at this time. Simple Connect must be removed to run MotoROS2.

### Memory leak

**Description**: there is a small memory leak which occurs each time the micro-ROS Agent disconnects from the controller.
Expand Down