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wpi_jaco: jaco_description | jaco_interaction | jaco_moveit_config | jaco_sdk | jaco_teleop | mico_description | mico_moveit_config | wpi_jaco_msgs | wpi_jaco_wrapper

Package Summary

Interactive manipulation with the JACO Arm


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



'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) jaco_arm/manipulation/lift (rail_manipulation_msgs/LiftGoal)

Subscribed Topics

jaco_arm/joint_states (sensor_msgs/JointState)

Published Topics

jaco_arm/cartesian_cmd (wpi_jaco_msgs/CartesianCommand)

Services Called

jaco_arm/kinematics/fk (wpi_jaco_msgs/JacoFK) jaco_conversions/quaternion_to_euler (wpi_jaco_msgs/QuaternionToEuler)


wpi_jaco/arm_name (string, default: jaco)


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


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:

2020-01-25 12:46