> ## 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
```

> [!NOTE]
>
> 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](https://docs.wuji.tech/docs/zh/wujihandros2/latest/configuration.md#多手配置)。

## 启动 RViz 可视化

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

**运行效果**

![RViz 可视化效果](https://mintcdn.com/wuji-0bbde051/l_0u7HfQSm-D4qqb/shared/assets/source/images/zh/wujihandros2/rviz-visualization.png?fit=max\&auto=format\&n=l_0u7HfQSm-D4qqb\&q=85\&s=0915b2f880c2cd955e80b09d20b2947e)


This documentation is built and hosted on [Mintlify](https://mintlify.com), a developer documentation platform.