Package Summary

Tags No category tags.
Version 0.0.25
License BSD
Build type CATKIN

Repository Summary

Checkout URI
VCS Type git
VCS Version develop
Last Updated 2016-11-15
CI status No Continuous Integration
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

ROS Wrapper for the JACO Arm Developed at WPI

Additional Links


  • David Kent
  • Russell Toris


  • David Kent
No README found. See repository README.

Changelog for package wpi_jaco_wrapper

0.0.25 (2016-02-23)

  • small bugfix on arm initialization status
  • Fixed a trajectory following bug involving trajectories coming in from MoveIt
  • Bugfix for kinova_gripper param
  • Added kinova_gripper parameter, setting it to false will remove the action servers specifically using the two- or three-fingered kinova gripper designed for use with the jaco or mico
  • Added initial support for the Jaco2 arm, see readme for details
  • Added initial support for the Jaco2 arm, see readme for details
  • Contributors: David Kent

0.0.24 (2015-08-18)

  • reverted changelog
  • changelog updated
  • Added parameter to make homing the arm on initialization optional
  • Added a fingers_controller_radian action server to better integrate with MoveIt! using joint_state information for gripper close/open actions
  • Contributors: David Kent, Russell Toris

0.0.23 (2015-05-04)

  • Adjusted startup delay on gripper action finished check
  • Fixes to sometimes incorrect reporting of gripper action result in the jaco_manipulation action server
  • Contributors: David Kent

0.0.22 (2015-04-22)

  • Removed an out of date debug statement that was filling up the logs
  • Contributors: David Kent

0.0.21 (2015-04-17)

  • Check if InitApi is succesful.
  • Contributors: Mathijs de Langen

0.0.20 (2015-04-14)

  • typo
  • Server starts immediately and we check if the arm is initialized in the callback function
  • Revert \"file not used\" This reverts commit 51053ff0f7325aef8ee1345cefbe790f48ba003b.
  • file not used
  • Forgotten { during merge
  • Merge branch \'develop\' of into develop Conflicts: wpi_jaco_wrapper/include/wpi_jaco_wrapper/jaco_arm_trajectory_node.h wpi_jaco_wrapper/launch/arm.launch wpi_jaco_wrapper/src/jaco_arm_trajectory_node.cpp
  • default to mico_arm for us :P
  • moveitmodel
  • Making the jaco_arm_trajectory node work for MoveIt! with the Mico
  • Made some remapping for the arm.launch (so the topics are in order)
  • Finger speed added as constant (3000 is ~half of the Mico speeds)
  • debug ON
  • Changed joint_state publisher to what MoveIt! understands (change back in future)
  • movements somewhat slower
  • Finger speed added as constant (3000 is ~half of the Mico speeds)
  • Merge remote-tracking branch \'upstream/master\' into develop
  • debug ON
  • Changed joint_state publisher to what MoveIt! understands (change back in future)
  • movements somewhat slower
  • Contributors: Mathijs de Langen

0.0.19 (2015-04-10)

0.0.18 (2015-04-03)

  • Publish a message after the arm homes using the kinova api
  • Contributors: David Kent

0.0.17 (2015-03-27)

  • CMake typo fix
  • install files missing
  • Contributors: Russell Toris

0.0.16 (2015-03-24)

  • Removed some debugging output
  • Put back the remapping
  • Removed the *0.8 for testing
  • Added some comments for the parameters
  • finger_threshold, made error counting for mico depend on two/three fingers
  • added finger_error_threshold as configurable parameter
  • added finger_error_threshold as configurable parameter
  • Moved the } two lines to below (WRONG MERGE:/)
  • removed space
  • recommented stuff
  • for loops for the fingers
  • newline
  • Newlines at end of file
  • Load params for each node
  • Deal with different number of fingers
  • Removed test code
  • private nodehandle not needed
  • Made num finger joints configurable
  • added parameters, fixed typo
  • forgotten nodehandle
  • actionlib typedefs, made actionlib constructs pointer so parameters can be loaded first
  • Synced all topics names with arm_name
  • conversions topic uses arm name parameter
  • made loadParameters a const function
  • Renamed variables to follow ROS naming conventions
  • Topic renaming
  • Renamed topics
  • Made jaco_arm_trajectory_node configurable
  • Configurable parameters via #defines added
  • Missing a lock in the gripper action server, should fix a potential crash with the jaco
  • Changed gripper action success conditions to better reflect reality
  • Removed redundant messages
  • Updated jaco interaction to use the new rail_manipulation_msgs
  • Switched jaco_manipulation to use rail_manipulation_msgs
  • Contributors: David Kent, Mathijs de Langen

0.0.15 (2015-02-17)

  • Documentation
  • adjustment to erase trajectories service
  • Merge branch \'develop\' of into develop
  • Added some minor service calls to support some other packages
  • Contributors: David Kent

0.0.14 (2015-02-06)

  • Added software estop for the arm
  • Contributors: David Kent

0.0.13 (2015-02-03)

  • Result on gripper control action server now reports correctly.
  • Initial adjustment of gripper action server to fix result feedback
  • Contributors: David Kent

0.0.12 (2015-01-20)

  • Tuned finger position controller, added detection and termination if the fingers are blocked from reaching their goal
  • Finger position control test
  • Removed unused debug statement
  • Adjusted angular and cartesian command callbacks to correctly execute finger position commands when arm joint commands are not specified
  • Contributors: David Kent

0.0.11 (2014-12-18)

0.0.10 (2014-12-12)

0.0.9 (2014-12-02)

  • Added service call to get angular position of arm joints
  • Contributors: David Kent

0.0.8 (2014-10-22)

  • tuning
  • Added check to see if the gripper is already open before the gripper opening loop
  • Parameter tuning
  • Added max_curvature parameter for trajectory planning, thresholded gripper opening to prevent a bug that causes gripper opening to terminate late
  • Contributors: David Kent

0.0.7 (2014-09-19)

  • bugfix on gripper closing
  • Contributors: dekent

0.0.6 (2014-09-02)

0.0.5 (2014-08-25)

  • release prep
  • adjusted teleop due to a mode switching bug in the arm; moved teleop to jaco_teleop and included support for segmentation in jaco_interaction
  • fix for issue with single angular position commands
  • testing retract command
  • adjusted retract position
  • Home and retract actions added to interactive markers
  • Contributors: Russell Toris, dekent

0.0.4 (2014-08-05)

  • documentation
  • renamed namespace in library
  • fixed header names in cpp files
  • renamed wrapper headers
  • correctly links against JACO libraries via cmake
  • updated package names in launch files
  • Contributors: Russell Toris, dekent

0.0.3 (2014-08-01)

0.0.2 (2014-08-01)

0.0.1 (2014-07-31)

  • renamed JACO to WPI packages
  • Contributors: Russell Toris

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • launch/arm.launch
      • arm_name [default: jaco]
      • home_arm_on_init [default: true]
      • kinova_gripper [default: true]


No message files found.


No service files found


No plugins found.

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