About

jaco_description contains urdf and xacro files for the JACO arm. It also includes a launch file for reading the robot model and setting up a joint_state_publisher and robot_state_publisher for visualization in tools such as rviz.

Organization

This package contains robot description files for the JACO arm, organized into subdirectories as follows:

• urdf/ contains xacro representations of urdf descriptions of the arm and its parts, as well as a generated urdf file for the standalone arm.

• robots/ contains urdf files for the arm as standalone robots.

• meshes/ contains mesh files for visualization and collision properties

Installation

To install the wpi_jaco package, you can install from source with the following commands:

•    1 cd /(your catkin workspace)/src
     2 git clone https://github.com/RIVeR-Lab/wpi_jaco.git
     3 cd ..
     4 catkin_make
     5 catkin_make install
  

Startup

The jaco_description package includes a launch file that can be used to load the robot model and setup joint state and robot state publishing used to populate a tf tree and visualize the robot. Once launched, the JACO model can be visualized in tools such as rviz. It can be launched with the following command:

• roslaunch jaco_description display.launch

The launch file also includes a parameter (gui) to launch a GUI which can control each joint to test the model's behavior, which can be launched as follows:

• roslaunch jaco_description display.launch gui:=true