> ## Documentation Index
> Fetch the complete documentation index at: https://docs.wuji.tech/llms.txt
> Use this file to discover all available pages before exploring further.

# Quick Start

## Launch the Driver

```bash theme={null}
# Source ROS2 environment, replace <distro> with your ROS2 distribution
source /opt/ros/<distro>/setup.bash
# If built from source, overlay the workspace (Deb package users can skip)
# Replace <workspace> with your workspace path, e.g., ~/wujihandros2
source <workspace>/install/setup.bash

# Launch the driver
ros2 launch wujihand_bringup wujihand.launch.py
```

On successful launch, you will see the following output:

```text theme={null}
[wujihand_driver]: Connected to WujiHand (right)
[wujihand_driver]: WujiHand driver started (state: 1000.0 Hz, diagnostics: 10.0 Hz)
```

## Verify Operation

Open a new terminal and check the joint states:

```bash theme={null}
# Source ROS2 environment, replace <distro> with your ROS2 distribution
source /opt/ros/<distro>/setup.bash
# If built from source, overlay the workspace (Deb package users can skip)
# Replace <workspace> with your workspace path, e.g., ~/wujihandros2
source <workspace>/install/setup.bash

ros2 topic echo /hand_0/joint_states --once
```

## Run Demo

```bash theme={null}
# Wave demo: fingers curl and extend in sequence
ros2 run wujihand_bringup wave_demo.py
```

> [!NOTE]
>
> When multiple hands are connected, specify the target hand with `--ros-args -p hand_name:=<hand-name>`. See [Multi-hand Configuration](https://docs.wuji.tech/docs/en/wujihandros2/latest/configuration.md#multi-hand-configuration) for details.

## Launch RViz Visualization

```bash theme={null}
ros2 launch wujihand_bringup wujihand.launch.py rviz:=true
```

**Result**

![RViz Visualization](https://mintcdn.com/wuji-0bbde051/3uhnC3cY-ox8e3b-/shared/assets/source/images/en/wujihandros2/rviz-visualization.png?fit=max\&auto=format\&n=3uhnC3cY-ox8e3b-\&q=85\&s=c0c7f4313af9278e831a6d01e5739383)


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