jog_controller

This package contains controller nodes for jog control. For now, it has two indivisual nodes, ‘jog_joint_node’ and ‘frame_joint_node’.

Both nodes depend on MoveIt!, so you should make sure MoveIt! is available for your robot in advance.

Both nodes use PositionController which is provided by ros_controllers/joint_trajectory_controller package.

jog_joint_node

‘jog_joint_node’ is for joint jogging. Joint jogging is to adjust the target joint angle by small amount of displacement. You can send JogJoint message to command the target joint and differential angle (delta).

Subscribed topic

• joint_states (sensor_msgs/JointState)

  Current joint states (angle, velocity, acceleration)

• jog_joint (jog_msgs/JogJoint)

  Joint jog command

Required service / action

This package uses position_cotnroller to control joint angles. It read the controller configuration form MoveIt! parameter (move_group/controller_list), so MoveIt! should be available before this node starting.

• follow_joint_trajecotry/goal (control_msgs/FollowJointTrajectoryAction)

  The goal joint angle to control

jog_frame_node

‘jog_frame_node’ is for frame jogging. Frame jogging is to adjust the target frame position and orientation by small amount of displacement. You can send JogFrame message to command the target frame and differential displacement of position and orientation.

Subscribed topic

• joint_states (sensor_msgs/JointState)

  Current joint states (angle, velocity, acceleration)

• jog_frame (jog_msgs/JogFrame)

  Jog command for target frame

Required service / action

This package depends on move_group of MoveIt! to compute kinematics.

• /compute_ik

  Service to get inverse kinematics by MoveIt!

• /compute_fk

  Service to get forward kinematics by MoveIt!

This package uses position_cotnroller to control joint angles. It read the controller configuration form MoveIt! parameter (move_group/controller_list), so MoveIt! should be available before this node starting.

• follow_joint_trajecotry/goal (control_msgs/FollowJointTrajectoryAction)

  The goal joint angle to control

Creating setting files for your own robot

You need a launch file and a configuration file your robot to use jog_controller. Let me show you the setting using ‘tra1’ robot as a example in the following description. You can install tra1 package as:

$ apt install ros-knetic-tra1-bringup

Create your own package

You are recommended to create your own package to store the configuration file.

$ catkin_create_pkg tra1_jog_config jog_controller tra1_bringup

Checking your robot configuration

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Changelog for package jog_controller

0.0.2 (2019-09-16)

• Add [intermittent]{.title-ref} parameter (#31 )
  • When this parameter is true, jog motions wait for the end of previous action
• Implemented a twist_to_jogframe controller (#39 )
  • added optional arg to lauch the spacenav
  • added missing dependency in package.
  • Added Twist to jog frame missing launch file arg
  • Update README.md
  • Fix typos, renamed argument. Mod def scale values
  • Asked modifications for pr.
  • New method to tf from spacenav axis to EEF.
  • Added missing launch file arg to ReadMe
  • clean up of twist script
  • fix to make it work
  • tested joy control using space mouse
  • Change validation message as ROS_ERROR
• Contributors: Alexandre Francoeur, LazyEngineerToBe, Ryosuke Tajima

0.0.1 (2018-08-30)

• Prepare for releasing (#28)
  • Add further dpendency
• Migrating rostests from jog_controller to jog_launch (#27)
  • Add waitForTransform for test code
  • make it optional to specify controller_name (should be remove later)
  • Remove unused variable
  • add UR3 and UR3 rostest
  • Adjust joypad scale for more safer control
• Add jog_launch package (#26)
  • Remove running tests(transfer to jog_launch afterwards)
  • Add settings for UR and tra1
• Add joypad descriptions (#24)
• Fix readme (#21)
  • Add how-to description to jog_controller/README.md
  • Add description into tra1_jog.yaml
• Add ur5 tests (#14)
  • Expand queue size for solve test failure
  • Add frame jog test for UR5
  • Add test_jog_frame.py to test jog frame
  • Add UR5 rostest for CMakeLists.txt
  • Add UR5 gazebo test for joint_jog
  • Change to test joint jog around a home position
  • Change to handle the jog command with partial joint names
  • Add initial test file for UR5
• Add config and launch files for hironx (#10)
  • Set default use_joy argument false
• Support precise jog control (#13)
  • Modify vs060 test
  • Modify for precise jog_frame control
  • Add test_jog_joint.py to test precise jog
  • Checking with VS060
• Change to avoid loop in jog control
  • Update reference joint state only if the jog command is not continuous
  • Change jog panel not to publish command when the command is all zero
• Add param exclude joints (#9)
• add config and launch files for hironx.
• Add motoman_sda10f and update README
• Add baxter_fake.launch which use fake_joint_driver
• Add exclude_joint_names param to exclude joint
• Add support for multiple joint_states (#8)
• Add tests and travis (#7)
• Add test for baxter (hztest only)
  • baxter_moveit_config is not released, so it remain disabled
  • Give up TRA1 test until minas is fixed
• Add support for multiple joint_states
  • ex. Baxter produces separated JointStates for grippers
• Add dependency on nextage_moveit_config
• Add exec dependency for nextage_ros_bridge
• Remove launch check templary for travis
• Add Nextage tests (hztest only)
• Fix build dependency
• Add hztest for TRA1
• Fix to obtain correct cinfo for jog_frame_node
• Fix to get first joint state message
• Fix the joy_to_jog_frame node to work
• Fix bug of invalid action name for use_action
  • Baxter will get error because this bug
• Add orientation jog (#5)
  • Improve display panel
  • Add rotation jog
• Change the naming of JogJoint and JogFrame messages (#1)
  • Change jog_msgs member name
• Add baxter settings, improve joint jog (#3)
• Improve joint jog node
  • Support multiple controllers
  • We just specify the list of joint to jog
  • Fix Baxter settings
• Remove controller_name from joint jog setting
• Add baxter settings
• Add action option (#2)
• Add motoman_sia20d jog settings

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