Add Cartesian Jogging capabilities

lit-af commented 5 years ago

Control the arm with cartesian coordinates instead of joints. Have a look at https://github.com/tork-a/jog_control

[x] Allow for more than one frame of reference for motion. (supported by jog_control)
- See https://github.com/clubcapra/jog_control/issues/5
[ ] Make the Speed Ratio selectable. (multiplier)
- ~dynamic_reconfigure possibly needed~
- Limit speed to 250 mm/s as per CSA Z434-14
[x] Figure out how to use the SpaceMouse as an input.

lit-af commented 5 years ago

This library seems well documented https://rbdl.bitbucket.io

lit-af commented 5 years ago

In progress

clubcapra / ovis