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What is YP-Spur?

YP-Spur is a mobile robot motion control software with coordinate frame based commands. See Control Architecture to learn the detail of the control system.

Build Status


Japanese version is here.

Quick Start Guide


  • Install gcc, C standard libraries and cmake
  • Build and install YP-Spur
$ git clone
$ cd yp-spur
$ mkdir build
$ cd build
$ cmake ..
$ make
$ sudo make install
$ sudo ldconfig

Try branched version

$ git fetch origin
$ git checkout -b [branch name] origin/[branch name]
  • Then, make and make install in the build directory.

Use YP-Spur

  • Open two terminals
  • Run ypspur-coordinator in terminal 1 and keep it running
$ ypspur-coordinator -p PARAMETER_FILE.param -d /path/to/device
  • Run user program in terminal 2