@gavanderhoorn Unfortunately our fork is not really in ‘shape’ for easily creating a PR. There are a couple of things that would have to be cleaned and squashed as a lot of debug stuff was checked in which we used to understand what was going on. Our MotoPlus driver changes have not yet been published … e.g. we added a trapezoidal velocity profile controller to the MotoPlus driver which directly moves to streamed set-points without taking a detour over the trajectory spline-interpolation.
(Rosvita has a custom jogging node which allows to jog by twist, catesian-setpoint or joint-directions with safe timeout handling (e.g. to be used via unreliable web-interface) with checking for collision and gracefully handling singularities etc. With the Rosvita UI you can simply enable jogging mode, drag the 3D Cursor at the endeffector and the robot follows.)