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I searched for your package name and found this:

https://github.com/Kinovarobotics/jaco-ros/blob/master/jaco_demo/nodes/jaco_demo/joint_angle_workout.py

Is it that node?

Seems to just send some actions to another node.

I guess the better way would be to use a client and call the service directly instead of calling that script with cpp.

http://wiki.ros.org/ROS/Tutorials/WritingServiceClient%28c%2B%2B%29

According to itself, it is """A helper program to __test__ cartesian goals for the JACO and MICO arms."""

I searched for your package name and found this:

https://github.com/Kinovarobotics/jaco-ros/blob/master/jaco_demo/nodes/jaco_demo/joint_angle_workout.py

Is it that node?

Seems to just send some actions to another node.

I guess the better way would be to use a client and call the service directly instead of calling that script with cpp.

http://wiki.ros.org/ROS/Tutorials/WritingServiceClient%28c%2B%2B%29

According to itself, it is """A helper program to __test__ test cartesian goals for the JACO and MICO arms."""