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FANUC LR Mate 400iD 4S

Do you mean LR Mate 200iD/4S? Because I'm not aware of Fanuc having released a 400iD already.

According to the supported hardware page, I could find LR Mate 200iD. Is it including 200iD 4S? or not?

All available drivers are manipulator agnostic. The only thing that is important is the controller. Both R-30iA and R-30iB(+) are supported.

What you will probably have to do yourself is create a URDF and MoveIt package.

That is, if you'd like to use MoveIt of course.

I would definitely recommend creating a URDF.