安装指南

# 替换 <version> 为实际版本号，如 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

# 安装 ROS2 Humble 及依赖
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

# 安装 ROS2 Kilted 及依赖
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

# 克隆仓库
git clone https://github.com/wuji-technology/wujihandros2.git
cd wujihandros2

# 拉取 URDF 模型子模块（必须）
git submodule update --init --recursive

# 加载 ROS2 环境，替换 <distro> 为实际安装的 ROS2 发行版
source /opt/ros/<distro>/setup.bash

# 编译
colcon build

# 加载工作空间
source install/setup.bash

# 安装依赖
sudo apt update
sudo apt install -y ros-humble-ros-base ros-humble-robot-state-publisher \
    ros-humble-sensor-msgs ros-humble-std-msgs

# 从 GitHub Releases 下载并安装（替换 <version> 为实际版本号）
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

# 安装依赖
sudo apt update
sudo apt install -y ros-kilted-ros-base ros-kilted-robot-state-publisher \
    ros-kilted-sensor-msgs ros-kilted-std-msgs

# 从 GitHub Releases 下载并安装（替换 <version> 为实际版本号）
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