Clone this package and UT-NRG's jog_arm package and build everything.
Launch the SIA5 simulation:
roslaunch motoman\_gazebo sia5\_gazebo\_nishida\_lab.launch
roslaunch motoman\_moveit sia5\_gazebo\_nishida\_lab\_moveit\_planning\_execution.launch
Move to a nonsingular starting position.
Launch the jogger:
roslaunch jog\_arm jog\_with\_spacenav.launch