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How to start up the Kinova (JACO Arms) API in ROS?

asked 2013-06-11 10:52:27 -0600

nemesis gravatar image

updated 2014-01-28 17:16:51 -0600

ngrennan gravatar image

What I am working on already has a couple of "sample programs" to help move the arms. But looking upon the code for these programs, there seems to be an API involved. I am trying to understand the code, but it all relates to the API which I can't find and run. I understand this information is not enough, but does anyone have any idea?

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answered 2013-08-13 07:27:04 -0600

tfoote gravatar image

There is a new driver for the Jaco released recently. Announcement: http://www.ros.org/news/2013/07/ros-node-for-jaco.html Documentation: http://www.ros.org/wiki/jaco

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answered 2013-06-17 06:40:37 -0600

jnj11 gravatar image

Do you have this ROS package? https://github.com/vecnatechnologies/JacoROS/blob/master/kinova_jaco/jaco_api/manifest.xml

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@jnj11 - That's what confuses me. The sample programs shouldn't run if there was no API, right? So the package should be there. But I couldn't locate the files that are available on the link you sent me. I skipped them by mistake probably. Will check again I guess. Thank you though!

nemesis gravatar imagenemesis ( 2013-06-18 08:21:12 -0600 )edit
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answered 2015-02-27 08:42:59 -0600

ReedHedges gravatar image

The jaco/kinova ROS arm driver uses a "KinovaAPI" layer to communicate with the arm. You can get this from Kinova. The Kinova API is a dynamic module that is loaded by the jaco/kinova driver at startup (it's not linked as a shared or static library at build time) so it will still build if the KinovaAPI dynamic module is missing, but will fail at runtime with warnings/errors such as "dlopen failed ... cannot open shared object file: No such file or directory", so check the output or log file if logging to file. (Will also fail to load on other problems such as a library its linked to is missing, or is incompatible format or architecture, or another problem)

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Asked: 2013-06-11 10:52:27 -0600

Seen: 1,457 times

Last updated: Feb 27 '15