centaurs and trojans of Jupiter

Centaur object,any of a population of small bodies,similar to asteroids in size but to comets in composition, that revolve around the Sun in the outer solar system, mainly between the orbits of Jupiter and Neptune.The Centaurs objects generally between the Kuiper Belt beyond and Neptune and even around the Trojans near Jupiter.
Wheras in astronomy, Trojan asteroids are located at the Lagrangian points, L4 and L5, which means located at 60degree in front and behind Jupiter respectively.Trojans can share the orbits of planets or of large moons.Trojans are one type of co-orbital objects,but remember trojans are not moon.

Except Jupiter,do any other planet have trojans?

Yes,Jupiter is not the only planet in our solar system to have trojans,Uranus has one,and Neptune has 19 in front of it and 3 behind it.

where do cenaurs come from?s

Centaurs originate from the Edgeworth-Kuiper belt, a band of objects beyond Neptune's orbit that contains more than a thousand known members. The largest are Pluto and the still unnamed tenth planet. If an object in the Edgeworth-Kuiper belt migrates inward,it becomes a centaur.