The jogging interface looks really nice @andreaskoepf.
If the changes are compatible with the other functionality of MotoROS/`motoman_driver`, it would be great if we could integrate that 'upstream'. Would you be willing/interested in that?
I haven't checked your fork yet, but is this similar to [ros-industrial/motoman#37](
https://github.com/ros-industrial/motoman/pull/37)?
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