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The jog_arm package

Just wanted to announce a new package for Cartesian jogging 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.

  • Includes collision detection.

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