Package Summary

Tags No category tags.
Version 1.1.0
License BSD 3-Clause
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ros-planning/moveit2.git
VCS Type git
VCS Version eloquent
Last Updated 2020-10-13
Dev Status DEVELOPED
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

Maintainers

  • Blake Anderson
  • Andy Zelenak

Authors

  • Brian O'Neil
  • Andy Zelenak
  • Blake Anderson
  • Alexander Rössler
  • Tyler Weaver

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
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Wiki Tutorials

See ROS Wiki Tutorials for more details.

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