Cannot load information on name: mico_description, distro: electric, which means that it is not yet in our index. Please see this page for information on how to submit your repository to our index.

Cannot load information on name: mico_description, distro: fuerte, which means that it is not yet in our index. Please see this page for information on how to submit your repository to our index.

Cannot load information on name: mico_description, distro: groovy, which means that it is not yet in our index. Please see this page for information on how to submit your repository to our index.

Cannot load information on name: mico_description, distro: hydro, which means that it is not yet in our index. Please see this page for information on how to submit your repository to our index.

Package Summary

Released Continuous integration Documented

3D Model and URDF of the Kinova MICO Arm

Maintainer status: maintained
Maintainer: David Kent <dekent90 AT gmail DOT com>
Author: Mathijs de Langen <langen AT robot-rose DOT nl>
License: BSD
Bug / feature tracker: https://github.com/RIVeR-Lab/wpi_jaco/issues
Source: git https://github.com/RIVeR-Lab/wpi_jaco.git (branch: master)

Cannot load information on name: mico_description, distro: jade, which means that it is not yet in our index. Please see this page for information on how to submit your repository to our index.

Cannot load information on name: mico_description, distro: kinetic, which means that it is not yet in our index. Please see this page for information on how to submit your repository to our index.

Cannot load information on name: mico_description, distro: lunar, which means that it is not yet in our index. Please see this page for information on how to submit your repository to our index.

Contents

About
Organization
Installation
Startup

About

mico_description contains urdf and xacro files for the MICO 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 MICO 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 descriptions for the arms 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 mico_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 MICO model can be visualized in tools such as rviz. It can be launched with the following command:

roslaunch mico_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 mico_description display.launch gui:=true