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Hi, Please check if your gazebo setup can launch all of the joint controllers correctly.

• Your setting should control the robot joints in gazebo viewer
• The controller should publish joint_states and accept FollowJointTrajectory action
• This have nothing to do with jog_control packages

I'm afraid the URDF in kuka_experimental/kuka_kr16_support need more descriptions for gazebo simulation at a glance. Please refer to ur_gazebo package in which you can easily start the system as:

roskaunch ur_gazebo ur5.launch

The alternative is to use fake_joint package instead of gazebo. I believe it is much easier if it fit your needs. And please notice the example in jog_control/jog_launch are all using fake_joint_driver, not gazebo.

In any ways, you need to confirm your robot can be controlled using MoveIt! before proceeding to jog_control. I recommend to check it step by step modifying the sample files.

Hi, Please check if your gazebo setup can launch all of the joint controllers correctly.

• Your setting should control the robot joints in gazebo viewer
• The controller should publish joint_states and accept FollowJointTrajectory action
• This have nothing to do with jog_control packages

I'm afraid the URDF in kuka_experimental/kuka_kr16_support need more descriptions for gazebo simulation at a glance. Please refer to ur_gazebo package in which you can easily start the system as:

The alternative is to use fake_joint package instead of gazebo. I believe it is much easier if it fit your needs. And please notice the example in jog_control/jog_launch are all using fake_joint_driver, not gazebo.

In any ways, you need to confirm your robot can be controlled using MoveIt! before proceeding to jog_control. I recommend to check it step by step modifying the sample files.