Licensing#

Important

WMX R2 as a whole is not MIT-licensed.

“WMX R2” names a solution made of two parts with different licenses: an open-source ROS 2 interface, and the proprietary WMX motion engine it runs on. The MIT license applies to the ROS 2 interface source code only. The WMX motion engine, its SDK, and its binaries are proprietary and require an evaluation or commercial license from MOVENSYS.

Neither the MIT license nor the WMX license grants rights to the other.

Licensing boundary#

Component	License	Notes
ROS 2 interface source code `wmx_r2_message`, `wmx_r2_package`, `wmx_r2_control`	MIT	Source in the `wmx-r2` repository. Free to use, modify, and redistribute under the MIT terms.
Example and reference repositories `movensys-manipulator`, `movensys-navigation`, `movensys-simulation`	MIT	Configuration, URDFs, launch files, and application nodes.
WMX Motion Engine the runtime installed at `/opt/wmx3/`	Proprietary: evaluation or commercial	Not open source. Distributed as binaries by MOVENSYS.
WMX3 SDK `WMX3Api.h`, `libwmx3api.so`, `libimdll.so`, `coremotionapi`, `ioapi`	Proprietary: evaluation or commercial	Required to build the ROS 2 interface. The MIT-licensed source links against these libraries; it cannot be built or run without them.
EtherCAT NIC drivers and platform modules `ec_platform.so`, `simu_platform.so`, `ndd_*.so`	Proprietary: evaluation or commercial	Part of the WMX runtime installation.
This documentation	© 2026 MOVENSYS, all rights reserved	Not covered by the MIT license.

Note

The MIT-licensed packages depend on the proprietary SDK at build time (target_link_libraries(... coremotionapi wmx3api imdll)). Obtaining the MIT source therefore does not by itself give you a buildable or runnable system — a WMX runtime and SDK are required as well.

WMX runtime licensing terms#

The WMX runtime is free to evaluate in renewable 6-hour sessions; restarting the engine starts a new session. A commercial license removes the time limit for production use. Contact your MOVENSYS representative for commercial licensing.

Mode	Terms
Evaluation	Renewable 6-hour engine sessions, extended by restarting the engine. Intended for evaluation and development.
Commercial	No session time limit. Required for production use.

Third-party components#

WMX R2 integrates with ROS 2, MoveIt 2, Nav2, ros2_control, NVIDIA Isaac ROS and Isaac Sim, Intel OpenVINO, Ultralytics YOLO, and Gazebo. Each carries its own license, which is unaffected by the terms above and which you are responsible for reviewing for your deployment. Ultralytics YOLO in particular is distributed under AGPL-3.0 unless a commercial Ultralytics license is obtained.

ROS is a trademark of Open Robotics.

Warranty#

The MIT license disclaims all warranties, including merchantability and fitness for a particular purpose, for the ROS 2 interface source code. This disclaimer is significant in a motion-control context: the software carries no warranty that it will produce correct or safe motion on your hardware. See Safety Functions and Responsibility for the safety functions this stack does not provide and for where responsibility sits.