README.md

Jog Arm Support

This Package contains files to launch the prbt with moveit_jog_arm and tork-a/fake_joint in simulation mode.

Prerequisites

• You need a workstation or Virtual machine with Ubuntu 18.04 LTS and ROS melodic installed.
• Create a catkin workspace

Installation from source

• Install moveit packages from source

  • following the moveit documentation (currently jog_arm is not yet available as binary!)

• Clone this package into the src directory git clone https://github.com/PilzDE/pilz_teach

• Get a fake_joint_driver:

  sudo apt install ros-melodic-fake-joint-driver

• In ~/catkin_ws install all the dependencies rosdep install -y --from-paths src --ignore-src

• Build the workspace e.g. using catkin build and source devel/setup.bash

Quick Start

To test jogging, execute the following steps:

1. Startup the prbt:

roslaunch prbt_jog_arm_support prbt_jog_arm_sim.launch

2. Send test command:

rostopic pub -r 100 /jog_server/delta_jog_cmds geometry_msgs/TwistStamped "header: auto
twist:
  linear:
    x: 0.0
    y: 0.1
    z: -0.1
  angular:
    x: 0.0
    y: 0.0
    z: 0.0"

Related Packages

• pilz_robots
• jog_arm, currently in moveit_experimental
• tork-a/fake_joint