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YP-Spur (YamabicoProject-Spur)


YP-Spur is a mobile robot motion control software with coordinate frame based commands.

Getting Started

Learn to use YP-Spur at the documentation pages.


$ mkdir build
$ cd build
$ cmake ..
$ make
$ sudo make install


  • YP-Spur is available under the MIT License.
    • Copyright (c) 2010-2016 The YP-Spur Authors, except where otherwise indicated.
  • YP-Spur has been forked from SH-Spur. The original SH-Spur source code is available under the MIT License.
    • Copyright (c) 2008 Eijiro Takeuchi and Intelligent Robot Laboratory Univ. of Tsukuba, All rights reserved.


Please post issues and/or pull-requests on our GitHub repository.