YP-Spur (YamabicoProject-Spur)

Purpose

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.

Install

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

License

• 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.

Contributing

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

Changelog for YP-Spur

1.23.1 (2025-07-30)

1.23.0 (2025-07-30)

• Fix library version update script on release candidate (#234)
• Fix release-candidate PR opener (#232)
• Fix release candidate workflow (#230)
• Fix release-candidate workflow to properly pass git user info (#229)
• Add ypspur-coordinator library (#221)
• Fix setjmp usage (#227)
• Fix header install directory (#226)
• Split signal handler code (#225)
• Fix single line comment style (#224)
• Fix initialization on simulation mode and old devices (#223)
• Show CTEST details on Alpine ROS CI (#222)
• Refactor header directory structure (#217)
• Bump actions/checkout from 2 to 4 (#220)
• Update GitHub Actions by Dependabot (#219)
• Test build with SSM (#218)
• Apply clang-format (#216)
• Unuse config.h (#214)
• Release to Alpine ROS 1 (#213)
• Drop CMake2 support (#212)
• Run CI for all PRs (#215)
• Contributors: Atsushi Watanabe, dependabot[bot]

1.22.5 (2024-05-01)

• Detect system time jump back (#208)
• Use nanosleep if available (#209)
• Output detailed log on time jump exit (#207)
• Contributors: Atsushi Watanabe

1.22.4 (2024-04-22)

• Fix default MAX_TIME_JUMP (#205)
• Contributors: Atsushi Watanabe

1.22.3 (2024-04-22)

• Add parameters to specify maximum allowd time jump (#202)
• Contributors: Atsushi Watanabe

1.22.2 (2024-04-11)

• Fix system time jump threshold (#200)
• Contributors: Atsushi Watanabe

1.22.1 (2024-04-10)

• Detect time jump by monotonic time (#197)
• Contributors: Atsushi Watanabe

1.22.0 (2024-04-02)

• Add option to stop control on system time jump (#191)
• Fix clock_nanosleep existence checks (#193)
• Contributors: Atsushi Watanabe

1.21.0 (2024-03-22)

• Update release-candidate workflow (#189)
• Simulate motion on --without-device mode (#185)
• Format source files by clang-format (#187)
• Update assets to v0.6.1 (#184)

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