Piper Arm Driver
piper_ros — ROS 2 control, description, and simulation packages for the AgileX Piper arm.
Module Role
piper_ros is the ROS 2 package group for the Piper robotic arm. It:
- controls the arm through CAN
- publishes joint states, end pose, and arm status
- provides URDF, MoveIt, and simulation content
- serves as the execution-side interface for manipulation tasks
Main Subpackages
piperpiper_msgspiper_descriptionpiper_moveitpiper_simpiper_humble
Main Interfaces
| Direction | Topic / Service | Type | Description |
|---|---|---|---|
| Subscribe | joint_ctrl_single |
sensor_msgs/JointState |
joint control input |
| Subscribe | pos_cmd |
piper_msgs/PosCmd |
end-effector command |
| Subscribe | enable_flag |
std_msgs/Bool |
enable control |
| Publish | joint_states_single |
sensor_msgs/JointState |
current joint states |
| Publish | arm_status |
piper_msgs/PiperStatusMsg |
arm state |
| Publish | end_pose |
geometry_msgs/Pose |
end-effector pose |
Typical Launches
ros2 launch piper start_single_piper.launch.py
ros2 launch piper start_single_piper_rviz.launch.py