> ## 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.

# 快速开始

## 启动驱动

```bash theme={null}
# 加载 ROS2 环境，替换 <distro> 为实际安装的 ROS2 发行版
source /opt/ros/<distro>/setup.bash
# 如使用源码编译，请叠加工作空间（Deb 包安装可跳过）
# 将 <workspace> 替换为实际工作空间路径，如 ~/wujihandros2
source <workspace>/install/setup.bash

# 启动驱动
ros2 launch wujihand_bringup wujihand.launch.py
```

启动成功后会看到以下输出：

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

## 验证运行状态

打开新终端，查看关节状态：

```bash theme={null}
# 加载 ROS2 环境，替换 <distro> 为实际安装的 ROS2 发行版
source /opt/ros/<distro>/setup.bash
# 如使用源码编译，请叠加工作空间（Deb 包安装可跳过）
# 将 <workspace> 替换为实际工作空间路径，如 ~/wujihandros2
source <workspace>/install/setup.bash

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

## 运行演示

```bash theme={null}
# 波浪演示：手指依次弯曲伸展
ros2 run wujihand_bringup wave_demo.py
```

<Info>
  连接多只灵巧手时，需通过 `--ros-args -p hand_name:=<hand-name>` 指定目标手。详见[多手配置](/docs/wujihandros2/configuration#多手配置)。
</Info>

## 启动 RViz 可视化

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

**运行效果**

<img src="https://mintcdn.com/wuji-0bbde051/Q08CII5VOvpQDcUt/assets/source/images/zh/wujihandros2/rviz-visualization.png?fit=max&auto=format&n=Q08CII5VOvpQDcUt&q=85&s=1a459e3f8682c336538ad8099eec1a17" alt="RViz 可视化效果" width="1374" height="1113" data-path="assets/source/images/zh/wujihandros2/rviz-visualization.png" />


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