pip3 install python-can
pip3 install scipy

pip3 install piper_sdk

sudo apt install ros-$ROS_DISTRO-ros2-control
sudo apt install ros-$ROS_DISTRO-ros2-controllers
sudo apt install ros-$ROS_DISTRO-controller-manager

bash can_activate.sh can0 1000000

sudo ethtool -i can0 | grep bus

bash can_activate.sh can_piper 1000000 "1-2:1.0"

sudo ethtool -i can0 | grep bus

sudo ethtool -i can1 | grep bus

colcon build

can_port: name of the CAN route to open.

auto_enable: Whether to automatically enable the system. If True, the system will automatically enable upon starting the program.
#  Set this to False if you want to manually control the enable state. If the program is interrupted and then restarted, the robotic arm will maintain the state it had during the last run.
# If the arm was enabled, it will remain enabled after restarting.
# If the arm was disabled, it will remain disabled after restarting.

gripper_exist: Whether there is an end gripper. If True, it means there is an end gripper and the gripper control will be turned on.

rviz_ctrl_flag: Whether to use RViz to send joint angle messages. If True, the system will receive joint angle messages sent by rViz.

gripper_val_mutiple: Set the gripper control multiplier.  

# Since the range of joint7 in RViz is [0, 0.04], while the actual gripper travel is 0.08m, the gripper needs to be set to twice the value in RViz to control the real gripper correctly.

# start the node
ros2 run piper piper_single_ctrl --ros-args -p can_port:=can0 -p auto_enable:=false -p gripper_exist:=true -p gripper_val_mutiple:=2
# start the launch
ros2 launch piper start_single_piper.launch.py can_port:=can0 auto_enable:=false gripper_exist:=false gripper_val_mutiple:=2
# Or,the node can be started with default parameters
ros2 launch piper start_single_piper.launch.py
# You can also use RViz to enable control by adjusting the parameters as described above.
ros2 launch piper start_single_piper_rviz.launch.py

/arm_status #the status of arm
/enable_flag #Enable flag, sent to the node, send true to enable
/end_pose #end pose feedback
/joint_states #Subscribe to the joint message and send the joint position to this message to control the movement of the robot arm
/joint_states_single #joints feedback
/pos_cmd #end pose control

/enable_srv #Enable service end

# call service
ros2 service call /enable_srv piper_msgs/srv/Enable enable_request:\ true\ 
# pub topic
ros2 topic pub /enable_flag std_msgs/msg/Bool data:\ true\ 

# call service
ros2 service call /enable_srv piper_msgs/srv/Enable enable_request:\ false\ 
# pub topic
ros2 topic pub /enable_flag std_msgs/msg/Bool data:\ false\ 

ros2 topic pub /joint_states sensor_msgs/msg/JointState "{header: {stamp: {sec: 0, nanosec: 0}, frame_id: 'piper_single'}, name: ['joint1', 'joint2','joint3','joint4','joint5','joint6','joint7'], position: [0.2,0.2,-0.2,0.3,-0.2,0.5,0.01], velocity: [0,0,0,0,0,0,10], effort: [0,0,0,0,0,0,0.5]}"

colcon build
Starting >>> piper   
Starting >>> piper_control
Starting >>> piper_description
Starting >>> piper_msgs
Finished <<< piper [0.31s]                                                                                                              
--- stderr: piper_description                                                                                            
CMake Error at CMakeLists.txt:5 (find_package):
  By not providing "Findament_cmake.cmake" in CMAKE_MODULE_PATH this project
  has asked CMake to find a package configuration file provided by
  "ament_cmake", but CMake did not find one.

  Could not find a package configuration file provided by "ament_cmake" with
  any of the following names:

    ament_cmakeConfig.cmake
    ament_cmake-config.cmake

  Add the installation prefix of "ament_cmake" to CMAKE_PREFIX_PATH or set
  "ament_cmake_DIR" to a directory containing one of the above files.  If
  "ament_cmake" provides a separate development package or SDK, be sure it
  has been installed.


---
Failed   <<< piper_description [0.45s, exited with code 1]
Aborted  <<< piper_control [0.45s]
Aborted  <<< piper_msgs [0.45s]

Summary: 1 package finished [0.55s]
  1 package failed: piper_description
  2 packages aborted: piper_control piper_msgs
  3 packages had stderr output: piper_control piper_description piper_msgs

source /opt/ros/foxy/setup.bash

Starting >>> piper   
Starting >>> piper_control
Starting >>> piper_description
Starting >>> piper_msgs
Finished <<< piper [0.33s]                                                                                                              
Finished <<< piper_description [0.42s]                                                                                     
--- stderr: piper_control                                                               
CMake Error at CMakeLists.txt:7 (find_package):
  By not providing "Findcontroller_manager.cmake" in CMAKE_MODULE_PATH this
  project has asked CMake to find a package configuration file provided by
  "controller_manager", but CMake did not find one.

  Could not find a package configuration file provided by
  "controller_manager" with any of the following names:

    controller_managerConfig.cmake
    controller_manager-config.cmake

  Add the installation prefix of "controller_manager" to CMAKE_PREFIX_PATH or
  set "controller_manager_DIR" to a directory containing one of the above
  files.  If "controller_manager" provides a separate development package or
  SDK, be sure it has been installed.


---
Failed   <<< piper_control [0.80s, exited with code 1]
Aborted  <<< piper_msgs [3.28s]                               

Summary: 2 packages finished [3.38s]
  1 package failed: piper_control
  1 package aborted: piper_msgs
  1 package had stderr output: piper_control

sudo apt install ros-$ROS_DISTRO-ros2-control
sudo apt install ros-$ROS_DISTRO-ros2-controllers
sudo apt install ros-$ROS_DISTRO-controller-manager

 "package 'joint_state_publisher_gui' not found

sudo apt install ros-$ROS_DISTRO-joint-state-publisher-gui

sudo apt install ros-$ROS_DISTRO-robot-state-publisher

sudo apt install ros-foxy-xacro