{"action":"created","issue":{"url":"https://api.github.com/repos/ros-planning/moveit/issues/1244","repository_url":"https://api.github.com/repos/ros-planning/moveit","labels_url":"https://api.github.com/repos/ros-planning/moveit/issues/1244/labels{/name}","comments_url":"https://api.github.com/repos/ros-planning/moveit/issues/1244/comments","events_url":"https://api.github.com/repos/ros-planning/moveit/issues/1244/events","html_url":"https://github.com/ros-planning/moveit/pull/1244","id":387868949,"node_id":"MDExOlB1bGxSZXF1ZXN0MjM2MjYzMDk2","number":1244,"title":"Add a jog_arm teleop pkg to moveit_experimental","user":{"login":"AndyZe","id":11284393,"node_id":"MDQ6VXNlcjExMjg0Mzkz","avatar_url":"https://avatars1.githubusercontent.com/u/11284393?v=4","gravatar_id":"","url":"https://api.github.com/users/AndyZe","html_url":"https://github.com/AndyZe","followers_url":"https://api.github.com/users/AndyZe/followers","following_url":"https://api.github.com/users/AndyZe/following{/other_user}","gists_url":"https://api.github.com/users/AndyZe/gists{/gist_id}","starred_url":"https://api.github.com/users/AndyZe/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/AndyZe/subscriptions","organizations_url":"https://api.github.com/users/AndyZe/orgs","repos_url":"https://api.github.com/users/AndyZe/repos","events_url":"https://api.github.com/users/AndyZe/events{/privacy}","received_events_url":"https://api.github.com/users/AndyZe/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":17,"created_at":"2018-12-05T17:38:09Z","updated_at":"2019-01-04T21:55:33Z","closed_at":null,"author_association":"NONE","pull_request":{"url":"https://api.github.com/repos/ros-planning/moveit/pulls/1244","html_url":"https://github.com/ros-planning/moveit/pull/1244","diff_url":"https://github.com/ros-planning/moveit/pull/1244.diff","patch_url":"https://github.com/ros-planning/moveit/pull/1244.patch"},"body":"### Description\r\n\r\nThis is a teleop/soft real-time control package. It takes up where PR #854 left off 5 months ago. Some of the updates since PR #854:\r\n\r\n- Can switch between unitless [-1:1] or unit [m/s, rad/s] commands.\r\n\r\n- Predict whether the arm is moving toward or away from singularity. If moving away, full speed is OK.\r\n\r\n- Can publish either JointTrajectory msgs (for old UR robots) or ros_control Float64MultiArray messages, as for a JointGroupVelocityController.\r\n\r\nA quick way to test this is to clone [this repo](https://github.com/UTNuclearRoboticsPublic/motoman_project). Then:\r\n\r\n- roslaunch motoman_gazebo sia5_gazebo_nishida_lab.launch\r\n- roslaunch motoman_moveit sia5_gazebo_nishida_lab_moveit_planning_execution.launch\r\n- roslaunch moveit_experimental jog_with_spacenav.launch  (the yaml file is already set up with the right topic names, etc.)\r\n\r\n\r\n~~An issue is a circular dependency between **moveit_experimental** and **moveit_ros_planning_interface**.~~ It looks like chomp doesn't actually require a build-dependency on moveit_experimental.\r\n\r\nI'll update tutorials and write tests if this gets approved.\r\n\r\n### Checklist\r\n- [x] **Required by CI**: Code is auto formatted using [clang-format](http://moveit.ros.org/documentation/contributing/code)\r\n- [ ] Extended the tutorials / documentation, if necessary [reference](http://moveit.ros.org/documentation/contributing/)\r\n- [ ] Include a screenshot if changing a GUI\r\n- [ ] Document API changes relevant to the user in the moveit/MIGRATION.md notes\r\n- [ ] Created tests, which fail without this PR [reference](http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/tests.html)\r\n- [ ] Decide if this should be cherry-picked to other current ROS branches\r\n- [ ] While waiting for someone to review your request, please consider reviewing [another open pull request](https://github.com/ros-planning/moveit/pulls) to support the maintainers\r\n"},"comment":{"url":"https://api.github.com/repos/ros-planning/moveit/issues/comments/451580051","html_url":"https://github.com/ros-planning/moveit/pull/1244#issuecomment-451580051","issue_url":"https://api.github.com/repos/ros-planning/moveit/issues/1244","id":451580051,"node_id":"MDEyOklzc3VlQ29tbWVudDQ1MTU4MDA1MQ==","user":{"login":"davetcoleman","id":561060,"node_id":"MDQ6VXNlcjU2MTA2MA==","avatar_url":"https://avatars2.githubusercontent.com/u/561060?v=4","gravatar_id":"","url":"https://api.github.com/users/davetcoleman","html_url":"https://github.com/davetcoleman","followers_url":"https://api.github.com/users/davetcoleman/followers","following_url":"https://api.github.com/users/davetcoleman/following{/other_user}","gists_url":"https://api.github.com/users/davetcoleman/gists{/gist_id}","starred_url":"https://api.github.com/users/davetcoleman/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/davetcoleman/subscriptions","organizations_url":"https://api.github.com/users/davetcoleman/orgs","repos_url":"https://api.github.com/users/davetcoleman/repos","events_url":"https://api.github.com/users/davetcoleman/events{/privacy}","received_events_url":"https://api.github.com/users/davetcoleman/received_events","type":"User","site_admin":false},"created_at":"2019-01-04T21:55:33Z","updated_at":"2019-01-04T21:55:33Z","author_association":"MEMBER","body":"Could you make a brief (or extensive) pull request to moveit_tutorials documenting how this works, and maybe adding some images or video?"}}
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