Package Summary

Interactive manipulation with the JACO Arm

Maintainer status: maintained
Maintainer: David Kent <dekent AT gatech DOT edu>, Russell Toris <rctoris AT wpi DOT edu>
Author: David Kent <dekent AT gatech DOT edu>
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)

Contents

About
Nodes
1. jaco_interactive_manipulation
Installation
Startup

About

The jaco_interaction package provides interactive marker-based control of the end effector pose and issuing of manipulation commands for the JACO and JACO2.

Nodes

jaco_interactive_manipulation

'jaco_interactive_manipulation' publishes interactive markers that can be used to control the end effector pose and issue manipulation commands.

Actions Called

jaco_arm/manipulation/gripper (rail_manipulation_msgs/GripperGoal)

Call open and close actions for the gripper.

jaco_arm/manipulation/lift (rail_manipulation_msgs/LiftGoal)

Call object lift action for the arm.

Subscribed Topics

jaco_arm/joint_states (sensor_msgs/JointState)

Updates for arm and finger joint states.

Published Topics

jaco_arm/cartesian_cmd (wpi_jaco_msgs/CartesianCommand)

Send Cartesian commands to the arm.

Services Called

jaco_arm/kinematics/fk (wpi_jaco_msgs/JacoFK)

Forward kinematics for the arm.

jaco_conversions/quaternion_to_euler (wpi_jaco_msgs/QuaternionToEuler)

Conversion from quaternion to Euler xyz rotation representations.

Parameters

wpi_jaco/arm_name (string, default: jaco)

Name of the arm, either "jaco" or "jaco2"

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 interactive markers can be launched using two launch files: im_backend.launch and im_frontend.launch. The im_backend.launch file launches all of the necessary ROS nodes to publish the interactive markers and send commands back to the arm, and as such it should be launched first on a computer connected directly to the JACO arm. The im_frontend.launch file launches rviz with a preset configuration to show the arm model and the interactive markers. This can be launched on any computer capable of displaying a GUI. The syntax for launching these nodes is as follows:

roslaunch jaco_interaction im_backend.launch

roslaunch jaco_interaction im_frontend.launch