I am new to ROS and have made some simulations with Gazebo. Now I need to use ROS with industrial motion controllers to drive some stepper motors. My thesis includes developing an articulated robotic arm controlled by ROS. So I need to know if this is possible and if yes then which controllers I can use to do so. Also how can I achieve this architecture if possible.

Thanks.

note: I am trying to control Omron motion controllers with motor drives. Other options are welcomed.