wujihandros2

ROS2 driver package for Wuji Hand dexterous hand. Provides 1000Hz joint state publishing, real-time control interface, multi-hand setup, and RViz visualization.

Get started with Quick Start. For detailed documentation, please refer to ROS2 Tutorial on Wuji Docs Center.

ROS2 Version	Ubuntu	Build Status	Deb Package
Humble	22.04		Download
Kilted	24.04		Download

Repository Structure

├── wujihand_bringup/
│   ├── launch/
│   └── scripts/
├── external/
│   └── wuji-hand-description/    # git submodule
├── wujihand_driver/
│   ├── include/
│   └── src/
├── wujihand_msgs/
│   ├── msg/
│   └── srv/
├── docs/
└── README.md

Directory Description

Directory	Description
wujihand_bringup/	Launch files and demo scripts for starting the driver
external/wuji-hand-description/	URDF models, mesh files, and RViz configuration (submodule)
wujihand_driver/	Core ROS2 driver node for hardware communication
wujihand_msgs/	Custom ROS2 message and service definitions
docs/	API reference and documentation

Quick Start

Installation

git clone --recurse-submodules https://github.com/wuji-technology/wujihandros2.git
cd wujihandros2
# If already cloned without --recurse-submodules, run:
# git submodule update --init --recursive
source /opt/ros/humble/setup.bash  # or kilted
colcon build
source install/setup.bash

Running

# Launch driver
ros2 launch wujihand_bringup wujihand.launch.py

# Launch with RViz visualization
ros2 launch wujihand_bringup wujihand.launch.py rviz:=true

# Verify operation
ros2 topic echo /hand_0/joint_states --once

Contact

For any questions, please contact support@wuji.tech.