Just wanted to announce a new package for [Cartesian jogging](http://wiki.ros.org/jog_arm) of robot arms. It arose from the annoyances of URscript -- namely, no collision checking, no singularity handling, and no coordinate frame integration. The package has been tested on a UR5 but it should work for any robot driver that subscribes to trajectory_msgs::JointTrajectory data. Some features: * The robot slows as a singularity is approached. It is possible to reverse out of singularities. * Most parameters are configurable via a YAML document. * Being multi-threaded, the node sustains a constant joint publish rate, despite incoming data rates that may vary. * Joint velocities are filtered to prevent abrupt jerks. * TODO soon: add MoveIt! collision detection. --- [Visit Topic](https://discourse.ros.org/t/the-jog-arm-package/3289/1) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: