ur5_jog_arm

The package contains custom configuration for our specific ur5 configuration and launch files.

Running the jogger

Required packages

Pull and build the packages in your catkin workspace:

1. https://github.com/ut-ims-robotics/jog_arm.git - Main jogger logic. Reccomended reading: https://wiki.ros.org/jog_arm

2. https://github.com/ut-ims-robotics/keyboard_publisher - keyboard publisher, for testing the jogger with keyboard

3. https://github.com/ut-ims-robotics/ur5_path_planning - and every package that is described in readme of this repository

Starting the jogger test scripts

1. First of all, everything that is needed for Moveit! path-planning should be running. Follow instructions of ur5_path_planning repository.

2. Now currently, to test jogger, there are two options: 1. try it with controller/joystick, 2. try it with keyboard (W, A, S, D)

   2.1 $ roslaunch ur5_jog_arm test_with_joystick.launch

   2.2 $ roslaunch ur5_jog_arm test_with_keyboard.launch

Your custom control method

To use your own control method, you can see the joystick and keyboard examples and interpret from these. Correspondingly key_to_twist_node.py from keyboard_publisher package or joy_to_twist.py from jog_arm package.