[ros-users] [Discourse.ros.org] [General] The jog_arm package

Andy ros.discourse at gmail.com
Thu Nov 30 20:56:20 UTC 2017

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.

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