solid-sinusoid/piper_ros
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions
ROS2 driver for AgileX Piper arms using our piper_control interface
47 commits 9 branches 2 tags 279 KiB
Find a file
Exact
Jafar Uruç ccdcb3087e
 Add NaN validation for joint command values in mocked node (#27) 
Check positions, velocities, and efforts for NaN values before updating joint states. Invalid values are ignored with warning logs to prevent corrupt state updates.
2025-11-20 14:25:25 +00:00
.github/workflows Add CI (#18) 2025-09-16 10:20:08 +01:00
.vscode Add CI (#18) 2025-09-16 10:20:08 +01:00
src Add NaN validation for joint command values in mocked node (#27) 2025-11-20 14:25:25 +00:00
.gitattributes Replace conda & pip & apt ROS 2 installation with pixi (#15) 2025-09-05 18:10:41 +01:00
.gitignore Replace conda & pip & apt ROS 2 installation with pixi (#15) 2025-09-05 18:10:41 +01:00
.pre-commit-config.yaml Add CI (#18) 2025-09-16 10:20:08 +01:00
LICENSE Initial commit 2025-04-08 16:44:16 +01:00
pixi.lock Add CI (#18) 2025-09-16 10:20:08 +01:00
pixi.toml Add CI (#18) 2025-09-16 10:20:08 +01:00
pyproject.toml Update version to 1.1.0 2025-09-18 11:58:45 +01:00
README.md Return false on timeout rather than crashing the node (#21) 2025-09-16 10:26:07 +01:00
ruff.toml Add CI (#18) 2025-09-16 10:20:08 +01:00

README.md

piper_ros

CI/CD

ROS2 driver for AgileX Piper arms using the R2 piper_control interface

Installation

pixi Install (dev and testing)

Make sure you have pixi installed.

pixi install

To build the ROS 2 packages

pixi run build

Linting

To lint the codebase, run:

pixi run lint

Manual Install

  1. Install can-utils and ethtool:

    sudo apt install -y can-utils ethtool

  2. Install piper_control:

      pip install "piper_control @ git+https://github.com/Reimagine-Robotics/piper_control.git@main"

  3. Install piper_ros to your system or active virtual/conda environment:

    pip install .