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Kinvoa Jaco arm example
The package jaco_arm contains various components for the Kinova Jaco arm.
The best place to get started quickly is the tutorials:
Both tutorials demonstrate the use of the example robot jaco_on_table. Please refer to the jaco_description wiki page for instructions on how to integrate this arm onto your robot, and to the jaco_moveit wiki page for instructions on how to set up your Jaco robot with MoveIt!.
Notes about this package
While there is an official ROS Kinova package for the Jaco arm, I found it did not work as accurately when I was working on the real robot. However that was end of 2014, so it may have changed, and I will investigate updates to the official package soon. Meanwhile, I created this URDF model of the arm and added some controllers. You may of course also try to use the official Jaco package instead.
The jaco hand does look a bit wrong in the URDF, that is because I had to fix the model to fit better for the real arm, but I have not updated the meshes yet. This is an update to come in near future. See also the jaco_desciption wiki page.
Acknowledgement
The meshes for the arm were taken from the package by Ian Craig
You can load up the robot without joint controllers for test purposes, or as a starting point to integrate your own controllers. Please refer to the jaco_description wiki page for instructions on how to bring up the arm without controllers.
The base URDF file for the jaco arm (located in jaco_description) does not load the gazebo joint controllers. For this, you have to include the gazebo tags which launch the plugins.
The package jaco_gazebo includes an example URDF which loads the jaco arm including the model plugins.
Please refer to the tutorial for Jaco and Gazebo to learn how to launch the Jaco in Gazebo using the controllers. More details about the controllers can be found on the jaco_gazebo wiki page.
The repository graspit-pkgs provides tools for GraspIt! and also includes an example with the Jaco arm: Simple example graspit files which have been converted with urdf2graspit can be found for the Kinova Jaco hand in the directory jaco_graspit_sample.