Installation

System Requirements

Software Versions

Software	Version
Wuji Hand SDK	See Release Notes for latest updates
Firmware	See Release Notes for latest updates

Supported Platforms

ROS2 Version	Ubuntu Version
Humble	22.04 LTS
Kilted	24.04 LTS

Installation Guide

Please ensure your system meets the System Requirements before proceeding.

Install Wuji Hand SDK

Before installing the ROS2 driver, you need to install the Wuji Hand SDK:

# Replace <version> with the actual version number, e.g., 1.5.0
wget https://github.com/wuji-technology/wujihandpy/releases/download/v<version>/wujihandcpp-<version>-amd64.deb
sudo apt install ./wujihandcpp-<version>-amd64.deb

Install ROS2 Driver

The ROS2 driver offers two installation methods. Choose based on your use case:

Option 1: Build from Source (Recommended)

Install Dependencies

Choose the command based on your Ubuntu version:

Ubuntu 22.04 (ROS2 Humble)

# Install ROS2 Humble and dependencies
sudo apt update
sudo apt install -y ros-humble-ros-base ros-humble-robot-state-publisher \
    ros-humble-rviz2 ros-humble-sensor-msgs ros-humble-std-msgs \
    python3-colcon-common-extensions python3-rosdep

Ubuntu 24.04 (ROS2 Kilted)

# Install ROS2 Kilted and dependencies
sudo apt update
sudo apt install -y ros-kilted-ros-base ros-kilted-robot-state-publisher \
    ros-kilted-rviz2 ros-kilted-sensor-msgs ros-kilted-std-msgs \
    python3-colcon-common-extensions python3-rosdep

Build

# Clone the repository
git clone https://github.com/wuji-technology/wujihandros2.git
cd wujihandros2

# Fetch URDF model submodule (required)
git submodule update --init --recursive

# Source ROS2 environment, replace <distro> with your installed ROS2 distribution
source /opt/ros/<distro>/setup.bash

# Build
colcon build

# Source workspace
source install/setup.bash

You must run git submodule update --init --recursive before building. The external/wuji-description/ directory contains the URDF models required for compilation.

Option 2: Deb Package Installation

Ubuntu 22.04 (ROS2 Humble)

# Install dependencies
sudo apt update
sudo apt install -y ros-humble-ros-base ros-humble-robot-state-publisher \
    ros-humble-sensor-msgs ros-humble-std-msgs

# Download and install from GitHub Releases (replace <version> with actual version)
wget https://github.com/wuji-technology/wujihandros2/releases/download/v<version>/ros-humble-wujihand_<version>_amd64.deb
sudo apt install ./ros-humble-wujihand_<version>_amd64.deb

Ubuntu 24.04 (ROS2 Kilted)

# Install dependencies
sudo apt update
sudo apt install -y ros-kilted-ros-base ros-kilted-robot-state-publisher \
    ros-kilted-sensor-msgs ros-kilted-std-msgs

# Download and install from GitHub Releases (replace <version> with actual version)
wget https://github.com/wuji-technology/wujihandros2/releases/download/v<version>/ros-kilted-wujihand_<version>_amd64.deb
sudo apt install ./ros-kilted-wujihand_<version>_amd64.deb

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