- piper_cpp -- C++ SDK for the AgileX Piper 6-DOF arm with gripper. This is a standalone pure C++ library.
- piper_cpp_ros -- A ros2_control hardware interface for the AgileX Piper 6-DOF arm and its optional
parallel-jaw gripper, built on top of
piper_cpp. Exposes position / velocity / effort state and position commands per arm joint, plus a 7th prismatic gripper joint when enabled. - piper_cpp_moveit -- MoveIt 2 configuration for the AgileX Piper 6-DOF arm. Plans on the arm
alone or, with
with_gripper:=true, on the arm + gripper together.
The CAN protocol follows the official piper_sdk
protocol definitions at commit
b847e539.
The protocol is chosen by the interface class you construct, never detected from the arm.
| Protocol | Firmware (per piper_sdk) |
Upstream definition | piper_cpp class |
piper_cpp_ros |
|---|---|---|---|---|
| V2 (default) | V1.5-2 up to, not including, V1.8-8 | INTERFACE_V2.MD |
PiperInterfaceV2 |
protocol_version:=2 |
| V3 | V1.8-8 and later | INTERFACE_V3.MD, CHANGELOG-V3.MD |
PiperInterfaceV3 |
protocol_version:=3 |
INTERFACE_V2.MD itself only says "V1.5-2 and later"; the upper bound comes from the
piper_sdk README, which says to use the V3 interface from firmware V1.8-8. On that
firmware V2 misreads at least MOVE M and the MIT commands.
Firmware older than V1.5-2 (the piper_sdk 0.0.x line) is not supported. Some V2 features
need newer firmware than V1.5-2 (for example MOVE CPV needs V1.8-1); the method docs say
where. V3 is tested against the Python SDK's encoder and decoder only, not on a physical arm. See
Protocol V3 for what changes.
MIT -- see LICENSE.