# How to use the cartesian trajectory controller? **URL:** \ **Category:** ROS\ **Created:** [June 5, 2023, 8:09pm UTC](https://forum.universal-robots.com/t/how-to-use-the-cartesian-trajectory-controller/28824 "2023-06-05T20:09:36Z")\ **Posts on this page:** 1\ **Page:** 1
**Author:** ![anon37128042](https://avatars.discourse-cdn.com/v4/letter/a/c57346/32.png) [@anon37128042](https://forum.universal-robots.com/u/anon37128042)\ **Post date:** [June 5, 2023, 8:09pm UTC](https://forum.universal-robots.com/t/how-to-use-the-cartesian-trajectory-controller/28824/1 "2023-06-05T20:09:37Z")
Hi, I have a UR5 robot but before I test my stuff on the real robot, I want to make sure everything works fine in gazebo simulation. I want the robot’s EE to follow a 6-DOF pose continuously. I have got a 6-DOF joystick which publishes poses continuously and I want the robot to follow it. I can do so easily using the franka emika cartesian impedance controller which they have already provided as an example and that makes me think that such a thing is possible. For UR5, after [searching](https://forum.universal-robots.com/t/hallo-i-have-a-question-about-new-feature-cartesian-trajectory-controller-how-can-i-start-this-action-server-and-where-is-controller-yaml-file-which-i-need-to-modiefy/14115) I found out that `pose_based_cartesian_traj_controller` is something which I should be looking at. The answer requests us to go to `beta-testing` branch which then redirects to the `staging` branch > This beta-testing branch is deprecated. The changes from this branch now live on the [staging](https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/tree/staging) branch. I cloned the `staging` branch but unsure how to move forward. Could someone please provide step-by-step instructions to do that? System details: Ubuntu 20.04 + ROS noetic on amd64 architecture PS: I can switch to ROS melodic as well if that’s a hard-and-fast requirement. Thanks in advance.