> ## 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.

# Installation

## System Requirements

### Software Versions

<table>
  <thead>
    <tr>
      <th>Software</th>
      <th>Version</th>
    </tr>
  </thead>

  <tbody>
    <tr>
      <td>Wuji Hand SDK</td>
      <td rowspan="2">See <a href="https://docs.wuji.tech/en/docs/wuji-hand/v1/release-notes/">Release Notes</a> for latest updates</td>
    </tr>

    <tr>
      <td>Firmware</td>
    </tr>
  </tbody>
</table>

### Supported Platforms

| ROS2 Version | Ubuntu Version |
| :- | :- |
| Humble | 22.04 LTS |
| Kilted | 24.04 LTS |

## Installation Guide

<Info>
  Please ensure your system meets the [System Requirements](#system-requirements) before proceeding.
</Info>

### Install Wuji Hand SDK

Before installing the ROS2 driver, you need to install the Wuji Hand SDK:

```bash theme={null}
# Replace <version> with the actual version number, e.g., 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
```

### Install ROS2 Driver

The ROS2 driver offers two installation methods. Choose based on your use case:

#### Option 1: Build from Source (Recommended)

**Install Dependencies**

Choose the command based on your Ubuntu version:

**Ubuntu 22.04 (ROS2 Humble)**

```bash theme={null}
# Install ROS2 Humble and dependencies
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
```

**Ubuntu 24.04 (ROS2 Kilted)**

```bash theme={null}
# Install ROS2 Kilted and dependencies
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
```

**Build**

```bash theme={null}
# Clone the repository
git clone https://github.com/wuji-technology/wujihandros2.git
cd wujihandros2

# Fetch URDF model submodule (required)
git submodule update --init --recursive

# Source ROS2 environment, replace <distro> with your installed ROS2 distribution
source /opt/ros/<distro>/setup.bash

# Build
colcon build

# Source workspace
source install/setup.bash
```

<Warning>
  You must run `git submodule update --init --recursive` before building. The `external/wuji-description/` directory contains the URDF models required for compilation.
</Warning>

#### Option 2: Deb Package Installation

**Ubuntu 22.04 (ROS2 Humble)**

```bash theme={null}
# Install dependencies
sudo apt update
sudo apt install -y ros-humble-ros-base ros-humble-robot-state-publisher \
    ros-humble-sensor-msgs ros-humble-std-msgs

# Download and install from GitHub Releases (replace <version> with actual version)
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
```

**Ubuntu 24.04 (ROS2 Kilted)**

```bash theme={null}
# Install dependencies
sudo apt update
sudo apt install -y ros-kilted-ros-base ros-kilted-robot-state-publisher \
    ros-kilted-sensor-msgs ros-kilted-std-msgs

# Download and install from GitHub Releases (replace <version> with actual version)
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
```


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