> ## 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.

# Appendix

## Troubleshooting

**Q: Device Busy (ERROR\_BUSY)?**

Terminate the existing driver process first:

```bash theme={null}
pkill -f wujihand_driver_node
pkill -f robot_state_publisher
ros2 launch wujihand_bringup wujihand.launch.py
```

**Q: Incomplete Topic or Service List?**

The ROS2 daemon may have cached old node information:

```bash theme={null}
# Restart daemon
ros2 daemon stop
ros2 daemon start
sleep 2

# Check again
ros2 topic list
ros2 service list
```

Or use the `--no-daemon` option for direct query:

```bash theme={null}
ros2 service list --no-daemon | grep -E "set_enabled|reset_error"
```

**Q: RViz Model Not Displaying?**

1. Confirm **Fixed Frame** is set to `{hand_name}/palm_link` (e.g., `hand_0/palm_link`)
2. Confirm **RobotModel**'s **Description Topic** is set to `/{hand_name}/robot_description`
3. Check if joint states are normal:

```bash theme={null}
ros2 topic echo /hand_0/joint_states --once
```

## Error Code Reference

| Error Code | Meaning | Solution |
| :- | :- | :- |
| 0 | Normal | - |
| 1 | Over-temperature protection | Wait for cooling and retry |
| 2 | Over-current protection | Check load, call reset\_error service |
| 3 | Communication timeout | Check USB connection, restart driver |

## Related Resources

* **GitHub Repository**: [wuji-technology/wujihandros2](https://github.com/wuji-technology/wujihandros2)
* **Deb Package Downloads**: [GitHub Releases](https://github.com/wuji-technology/wujihandros2/releases)
* **Wuji Hand SDK**: [GitHub Releases](https://github.com/wuji-technology/wujihandpy/releases)
* **Technical Support**: [support@wuji.tech](mailto:support@wuji.tech)


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