Which robot arm is more suitable for ROS secondary development?

[zp2546265641]

Hello, I want to use our robot arm for secondary development. I would like to ask, does the YRC1000micro control cabinet support ros control? I saw in the wiki community that it only supports (DX100, FS100, DX200, and YRC1000), but I don't know if micro can? What is the difference between the YRC1000micro and YRC1000 control cabinets?

[zp2546265641]

Considering the high requirement of repeatable positioning accuracy, I want to use GP7, but its control cabinets are large and small. I am not sure whether micro also supports ros driver, and how big is the difference between mirco and standard control cabinet. How about using this one for secondary development? I mainly need to control trajectory and io interface, movement speed topic.