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You should contact Motoman to get info on MotoPlus Tell them you intend to use it with ROS. They should be able to tell you if it is required or not. As far as I understand the IDE is not needed for straight motion control. The binaries for this are checked in to the public repo.

If you are developing something special, I recommend looking at the motoman_driver package ( http://wiki.ros.org/motoman_driver ) to see how it can be done.

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