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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.


This package contains robot description files for the JACO arm, organized into subdirectories as follows:


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


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:

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:

2024-07-13 13:17