Documentation Status

Cannot load information on name: jog_arm, distro: electric, which means that it is not yet in our index. Please see this page for information on how to submit your repository to our index.
Cannot load information on name: jog_arm, distro: fuerte, which means that it is not yet in our index. Please see this page for information on how to submit your repository to our index.
Cannot load information on name: jog_arm, distro: groovy, which means that it is not yet in our index. Please see this page for information on how to submit your repository to our index.
Cannot load information on name: jog_arm, distro: hydro, which means that it is not yet in our index. Please see this page for information on how to submit your repository to our index.

Package Summary

Released Continuous integration Documented

Provides manipulator cartesian jogging.

  • Maintainer status: maintained
  • Maintainer: Blake Anderson <blakeanderson AT utexas DOT edu>
  • Author: Brian O'Neil, Blake Anderson <blakeanderson AT utexas DOT edu>, Andy Zelenak <andyz AT utexas DOT edu>
  • License: specified in-file
  • Source: git https://github.com/UTNuclearRoboticsPublic/jog_arm.git (branch: indigo)
Cannot load information on name: jog_arm, distro: jade, which means that it is not yet in our index. Please see this page for information on how to submit your repository to our index.

Package Summary

Released Continuous integration Documented

Provides manipulator cartesian jogging.

  • Maintainer status: developed
  • Maintainer: Blake Anderson <blakeanderson AT utexas DOT edu>, Andy Zelenak <andyz AT utexas DOT edu>
  • Author: Brian O'Neil, Andy Zelenak <andyz AT utexas DOT edu>, Blake Anderson <blakeanderson AT utexas DOT edu>
  • License: specified in-file
  • Source: git https://github.com/UTNuclearRoboticsPublic/jog_arm.git (branch: kinetic)
Cannot load information on name: jog_arm, distro: lunar, which means that it is not yet in our index. Please see this page for information on how to submit your repository to our index.

Description

A Cartesian jogger for any robot arm that subscribes to trajectory_msgs::JointTrajectory data. Tested on a UR5.

Usage

Launch your robot driver. Then, the package includes a launch file for quick testing. Plug an XBox controller or similar into your computer and run the launch file:

roslaunch jog_arm test_with_joystick.launch

If you don't have an XBox controller, the Python file /src/joy_to_twist.py can easily be modified for keyboard commands, etc.

Most of the package parameters can be modified via YAML file. See /config/jog_settings.yaml.

Features

* The robot slows as a singularity is approached. It is possible to reverse out of singularities. The YAML file allows the singularity threshold to be adjusted.

* 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.

* TODO: add collision detection. Shouldn't be too difficult as MoveIt! is already being used for some calculations.

YAML parameters

* cmd_in_topic: topic for incoming joystick commands.

* incoming_cmd_timeout: for safety, stop jogging when fresh commands haven't been received for this many seconds.

* joint_topic: where does the arm driver publish the joint names/values? Typically 'joint_states'.

* move_group_name: name of the MoveIt group of interest. Must be a serial chain since the Jacobian is used.

* singularity_threshold: how sensitive is singularity detection? Smaller ==> Will slow down sooner.

* cmd_out_topic: name of the outgoing trajectory_msgs::JointTrajectory topic. Your robot driver should be subscribed to this.

* planning_frame: typically should match the MoveIt! planning frame.

* low_pass_filter_coeff: a larger coefficient yields smoother velocity profiles, but more lag.

* pub_period: define the rate of outgoing joint commands. Typically in the 60-100 Hz range.

* scale: incoming commands are typically in the range [-1, 1]. Use these values to scale them to something reasonable for your robot.

* joy_to_twist/cmd_frame: for the demo launch file, this is the frame where the joystick commands are interpreted.

Wiki: jog_arm (last edited 2017-12-13 20:15:28 by AndyZe)