I can answer a small part of that. **jog_arm** uses ros_control `position_controllers/JointGroupPositionControllers` or `velocity_controllers/JointGroupVelocityControllers`. Those are the controller types that allow for streaming commands. --- [Visit Topic](https://discourse.ros.org/t/developing-a-moveit-compatible-driver-for-hekulex-servos/7876/2) 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: