Just wanted to announce a new package for [Cartesian jogging](http://wiki.ros.org/jog_arm) of robot arms. It arose from the annoyances of URscript -- namely, no collision checking, no singularity handling, and no coordinate frame integration.
The package has been tested on a UR5 but it should work for any robot driver that subscribes to trajectory_msgs::JointTrajectory data. Some features:
* The robot slows as a singularity is approached. It is possible to reverse out of singularities.
* Most parameters are configurable via a YAML document.
* Being multi-threaded, the node sustains a constant joint publish rate, despite incoming data rates that may vary.
* Joint velocities are filtered to prevent abrupt jerks.