ROS and MoveIt! are very powerful tools for industrial manipulators. Many people use ROS packages to control their own industrial manipulators. You can see many manipulators are available on ROS-Industrial project.
However, ROS has several missing features for industrial usage. The one is "jogging". Jogging is to make the actual robot move by small amount of distance. We can repeat jogging to adjust the robot to teach target position and posture.
Most commercial industrial robots have their own jog control in the teaching pendants. Some ROS oriented robot has no teaching pendant and no jog control, so it can be a big barrier to use ROS for industrial usage.
This jog_control repositry has packages for jog control
(reasonably). You can jog your robot by rviz jog panel, joypads,
keyboards, and teaching pendants using these packages.
You can see the idea of jog_control package by demo with simulation and MoveIt!.
You can use UR5:
$ roslaunch jog_controller ur5.launch
TRA1:
$ roslaunch jog_controller tra1.launch
Denso VS060:
$ roslaunch jog_controller vs060.launch
NEXTAGE Open:
$ rtmlaunch nextage_ros_bridge nextage_ros_bridge_simulation.launch
$ roslaunch jog_controller nextage.launch
You can use robots on ROS-I repositry.
ABB IRB2400: (CAUTION: The model of this robot is a bit strange in joint limits. The jog may not move because of joints flipping.)
$ roslaunch jog_controller abb_irb2400.launch
MOTOMAN SIA20D:
$ roslaunch jog_controller motoman_sia20d.launch
You ca add new panel JogFramePanel in rviz.
You can also use a joypad. TBA.
You can also use a teaching pendant. TBA.
jog_msgs is a ROS message package for jog control.
jog_controller contains ROS nodes for jog control.
- Orientation(pose) jogging (work in progress)
- Wiser target picking (group name, target link, etc)
- Marker visualization for target link and base link