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UTNuclearRoboticsPublic / jog_arm

A real-time robot arm jogger.
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Share efforts with jog_control #45

Open machinekoder opened 6 years ago

machinekoder commented 6 years ago

There is a new package called jog_control. Looks like there are double efforts going on in the Cartesian jogging space at the moment. It might be interesting to share efforts.

AndyZe commented 6 years ago

I've had the same thought, but jog_arm is close to being merged into MoveIt! So I think I will wait for that. There was already a simple XBox jogger in MoveIt!, too ... whereas this package is for high-frequency, real-time control.

I'll give it a couple weeks to see how the MoveIt situation works out.

AndyZe commented 6 years ago

We are getting close to the time when I will give up on the MoveIt! PR. They are moving too slowly and it's hard to maintain this repo + that PR. Will be thinking more about this...

gavanderhoorn commented 5 years ago

A big difference between this package and jog_control is that the latter seems to rely on the presence of a FollowJointTrajectory action server, and I believe even one which supports trajectory replacement for jogging to work smoothly. In simulation, that all works fine with the joint_trajectory_controller loaded, but I'm not sure how well it works with real robots and drivers that don't support trajectory replacement.

I don't see support for velocity control in jog_control either, which for a jogging application would seem to be the best way to interface with the target robot (afaict).