Documentation Guide

Changelog

Wuji Hand ROS2 version updates and changes

Installation

System requirements, dependencies, and build steps

• System Requirements
  Software Versions, Supported Platforms
• Installation Guide
  Please ensure your system meets the System Requirements before proceeding.

Quick Start

5-minute walkthrough: connect device, launch driver, subscribe to joint states

• Launch the Driver
  On successful launch, you will see the following output:
• Verify Operation
  Open a new terminal and check the joint states:
• Run Demo
  When multiple hands are connected, specify the target hand with --ros-args -p hand_name:=. See Multi-hand Configuration for details.
• Launch RViz Visualization
  Result

Configuration

Typical multi-hand / Ethernet / USB configuration samples

• Launch Commands
• Configurable Parameters
  Handedness (left/right) is automatically detected from hardware. No manual specification required.
• Multi-hand Configuration
  When controlling multiple dexterous hands simultaneously, use serial numbers and namespaces to distinguish them.
• Joint Identification
  The dexterous hand has 20 joints (5 fingers × 4 joints per finger).

ROS2 Interface

Topic / service / parameter / launch interface reference

• Interface Reference
  wujihand_msgs/msg/HandDiagnostics: Hardware diagnostics, published at 10Hz by default (see diagnostics_rate).
• Service Calls
  Enable/Disable Joints, Reset Errors
• Topic Control
  Joint positions are sent via the /{hand_name}/joint_commands topic using the sensor_msgs/msg/JointState message type.
• Code Examples
  The following examples demonstrate how to create a ROS2 node to control the dexterous hand:

Appendix

Troubleshooting and related resources

• Troubleshooting
  Q: Device Busy (ERROR_BUSY)?
• Error Code Reference
• Related Resources