<> <> == About == ||The `wpi_jaco` metapackage contains ROS packages and nodes that can be used to communicate with the [[http://www.kinovarobotics.com/service-robotics/products/robot-arms/|Kinova's]] JACO, JACO2, and MICO robot arms. The [[wpi_jaco_wrapper]] package provides basic control, advanced trajectory control, and manipulation actions for both types of arm. The [[jaco_interaction]] package provides teleoperation via joystick, keyboard, and interactive marker control for the JACO and JACO2. The [[jaco_description]] and [[mico_description]] packages contain urdf and xacro files, Collada models, and Solidworks models, as well as launch files for visualizing the robot model, and the [[jaco_sdk]] package contains Kinova's API for communicating with the JACO, JACO2, and MICO arms. The [[jaco_moveit_config]] and [[mico_moveit_config]] packages provide example MoveIt! configurations for the JACO and MICO arms. The [[wpi_jaco_msgs]] package contains all of the messages, services, and actions used throughout the above packages. || {{attachment:jaco.png||height="209",width="180"}} || == Notes about the JACO2 == Not all of the functionality of the meta-package is implemented yet for the JACO2. There's no jaco2_description package yet, providing a urdf for the arm. Similarly, there is no sample MoveIt! configuration either, which is waiting on the urdf before configuration is possible. As such, the motion planning functionality found in the two moveit packages have not yet been extended to the JACO2. All of the other functionality should work as intended for the new arm. == 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 [[wpi_jaco_wrapper]] package contains a launch file, `arm.launch`, to start all of the nodes required to communicate with the JACO arm. Once these nodes are launched, further launch files can be run from the other packages, all of which are documented in their respective wiki pages. == Support == Please send bug reports to the [[https://github.com/RIVeR-Lab/wpi_jaco/issues|GitHub Issue Tracker]]. ## AUTOGENERATED DON'T DELETE ## CategoryPackage