@Sinai_Aranda We have ROS support for executing Yaskawa INFORM-Jobs, reading&writing IOs & Variables for DX100 in our Motoman-Fork which ships with the Rosvita beta. It comes also with simulation of all the Motoman ROS services for testing of programms without a real robot. We have tested so far on a DX100 and a FS100 with SDA10 robots.
You can see the functionality in our Motoman plugin video. The software is in beta, for more details see our web site or our other videos. Which robot are you using?
(I will post more details about Rosvita in 8-12 weeks with an official announcement.)