<> <> == 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: . {{{#!shell cd /(your catkin workspace)/src git clone https://github.com/RIVeR-Lab/wpi_jaco.git cd .. catkin_make 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 }}} ## AUTOGENERATED DON'T DELETE ## CategoryPackage