How to run jog_arm on UR5

[gachiemchiep]

Hello @AndyZe Thank you for your great work.

I follow your tutorial at moveit_jog_arm but unfortunately, the robot didn't move at all. Here's a quick summary of what I'm trying for now.

• What I want to achieve Run jog_arm on gazebo and real UR5 robot

• What I'm trying now Run jog_arm on gazebo simulation.

• Detail

Follow tutorial at moveit_jog_arm , i can click "plan and execute" to move the robot to selected pose.

Create a custom "arm_controller_ur5.yaml" as follow

arm_controller:
  type: position_controllers/JointTrajectoryController
  joints:
     - shoulder_pan_joint
     - shoulder_lift_joint
     - elbow_joint
     - wrist_1_joint
     - wrist_2_joint
     - wrist_3_joint
  constraints:
      goal_time: 0.6
      stopped_velocity_tolerance: 0.05
      shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
      shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
      elbow_joint: {trajectory: 0.1, goal: 0.1}
      wrist_1_joint: {trajectory: 0.1, goal: 0.1}
      wrist_2_joint: {trajectory: 0.1, goal: 0.1}
      wrist_3_joint: {trajectory: 0.1, goal: 0.1}
  stop_trajectory_duration: 0.5
  state_publish_rate:  25
  action_monitor_rate: 10
joint_group_position_controller:
  # type: position_controllers/JointGroupPositionController
  type: velocity_controllers/JointGroupVelocityController
  joints:
     - shoulder_pan_joint
     - shoulder_lift_joint
     - elbow_joint
     - wrist_1_joint
     - wrist_2_joint
     - wrist_3_joint

I don't have the SpaceNavigator joystick so I used example jogging commands as in the tutorial

rostopic pub -r 100 /jog_server/delta_jog_cmds geometry_msgs/TwistStamped "header: auto
twist:
  linear:
    x: 0.0
    y: 0.01
    z: -0.05
  angular:
    x: 0.0
    y: 0.0
    z: 0.0"

The /jog_server/delta_jog_cmds topic does exist and has incoming message

(base) jil@jil-dev-truong:catkin_ws$ rostopic hz /jog_server/delta_jog_cmds
subscribed to [/jog_server/delta_jog_cmds]
WARNING: may be using simulated time
average rate: 100.101

But the robot didn't move at all. There isn't any error message, so I don't know what is wrong for now.

Would you mind take a look at this, and give me some help? Thank you.