If you use the Talend infrastructure (TAC, Commandline, Jobserver) you actually does not need Jenkins. For a continuos build you can configure the TAC to build the task when a change happened.
Until now Jenkins cannot out of the box integrated into the build process but of course it is possible. You can use the telnet interface of the commandline or the RESTful webservice of the TAC to trigger a build from a Jenkins server but as far as I know Jenkins actually deals with maven scripts or ant scripts. You have to build a wrapper maven script to communicate with Talend services.
