ROS Package: moveit_jog

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moveit_jog_arm package from ros2eloquent_moveit_ws repo

costum_msg_srv cpp_pubsub cpp_srvcli moveit moveit_commander moveit_core run_moveit_cpp moveit_jog_arm moveit_kinematics moveit_planners_chomp chomp_motion_planner moveit_chomp_optimizer_adapter moveit_planners moveit_planners_ompl sbpl_interface sbpl_interface_ros moveit_fake_controller_manager moveit_plugins moveit_ros_control_interface moveit_simple_controller_manager moveit_ros_benchmarks moveit_ros_manipulation moveit_ros_move_group moveit_ros moveit_ros_occupancy_map_monitor moveit_ros_perception moveit_ros_planning moveit_ros_planning_interface moveit_ros_robot_interaction moveit_ros_visualization moveit_ros_warehouse moveit_runtime moveit_setup_assistant moveit_task_constructor my_package py_pubsub py_srvcli ros2_payload testpkg_action testpkg_cmake testpkg_cmake_python testpkg_cmake_simple testpkg_launch testpkg_python testpkg_python_simple testpkg_simple

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Package Summary

Tags	No category tags.
Version	0.0.3
License	BSD 3-Clause
Build type	CATKIN
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/iamrajee/ros2eloquent_moveit_ws.git
VCS Type	git
VCS Version	master
Last Updated	2022-06-14
Dev Status	UNMAINTAINED
CI status	No Continuous Integration
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Provides real-time manipulator Cartesian jogging.

Additional Links

Website

Maintainers

Blake Anderson
Andy Zelenak

Authors

Brian O'Neil
Andy Zelenak
Blake Anderson
Alexander Rössler

src/moveit2/moveit_experimental/moveit_jog_arm/README.md

Jog Arm

Quick Start Guide for UR5 example

Clone the universal_robot repo into your catkin workspace:

git clone https://github.com/ros-industrial/universal_robot.git

Run rosdep install from the src folder to install dependencies.

rosdep install --from-paths . --ignore-src -y

Build and subsequently source the catkin workspace. Startup the robot and MoveIt:

roslaunch ur_gazebo ur5.launch

roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true

roslaunch ur5_moveit_config moveit_rviz.launch config:=true

In RViz, “plan and execute” a motion to a non-singular position (not all zero joint angles) that is not close to a joint limit.

Switch to a compatible type of ros-control controller. It should be a JointGroupVelocityController or a JointGroupPositionController, not a trajectory controller like MoveIt usually requires.

rosservice call /controller_manager/switch_controller "start_controllers:
- 'joint_group_position_controller'
stop_controllers:
- 'arm_controller'
strictness: 2"

Launch the jog node. This example uses commands from a SpaceNavigator joystick-like device:

roslaunch moveit_jog_arm spacenav_cpp.launch

If you dont have a SpaceNavigator, send commands like this:

rostopic pub -r 100 /jog_server/delta_jog_cmds geometry_msgs/TwistStamped "header: auto
twist:
  linear:
    x: 0.0
    y: 0.01
    z: -0.01
  angular:
    x: 0.0
    y: 0.0
    z: 0.0"

If you see a warning about “close to singularity”, try changing the direction of motion.

Running Tests

Run tests from the jog_arm folder:

catkin run_tests --no-deps --this

CHANGELOG

No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	catkin
	joy_teleop
	rostest
	ros_pytest
	moveit_resources
	control_msgs
	geometry_msgs
	moveit_ros_planning_interface
	rosparam_shortcuts
	tf2_ros

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

launch/spacenav_cpp.launch
launch/spacenav_teleop_tools.launch
- - cmd_vel [default: spacenav/joy]
  - teleop_config [default: $(find moveit_jog_arm)/config/spacenav_via_teleop_tools.yaml]
test/arm_setup/launch/panda_move_group.launch
- - planner [default: ompl]
  - debug [default: false]
  - info [default: $(arg debug)]
  - allow_trajectory_execution [default: true]
  - fake_execution [default: false]
  - max_safe_path_cost [default: 1]
  - jiggle_fraction [default: 0.05]
  - publish_monitored_planning_scene [default: true]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `moveit_jog_arm` at Robotics Stack Exchange

API Docs Browse Code

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