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docs: consolidate README updates and CI improvements
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‎.github/workflows/ci.yml‎

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name: CI/CD
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on:
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push:
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branches: [ main, master ]
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pull_request:
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branches: [ main, master ]
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jobs:
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lint_job:
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name: Format & Static Check
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runs-on: ubuntu-latest
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steps:
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- name: Checkout Code
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uses: actions/checkout@v4
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- name: Check for Windows Line Endings (CRLF)
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id: check_crlf
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run: |
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echo "🔍 正在检查项目中的 CRLF 换行符..."
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# 排除 .git 和 build 目录
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CRLF_FILES=$(find . -type f -not -path '*/.*' -not -path './build/*' -exec file {} + | grep "CRLF" | cut -d: -f1)
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if [ -n "$CRLF_FILES" ]; then
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echo "❌ 错误: 发现以下文件包含 Windows (CRLF) 换行符:"
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echo "$CRLF_FILES"
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echo "请在本地运行: find . -type f -exec dos2unix {} + 修复。"
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exit 1
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else
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echo "✅ 所有文件均使用 Unix (LF) 换行符。"
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fi
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- name: Generate Lint Summary
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if: always()
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run: |
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echo "### 📋 Format Check Summary" >> $GITHUB_STEP_SUMMARY
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echo "| Check Item | Status |" >> $GITHUB_STEP_SUMMARY
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echo "| --- | --- |" >> $GITHUB_STEP_SUMMARY
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echo "| CRLF Line Endings | ${{ steps.check_crlf.outcome == 'success' && '✅ Passed' || '❌ Failed' }} |" >> $GITHUB_STEP_SUMMARY
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build_job:
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name: Build - Ubuntu ${{ matrix.os_ver }} (${{ matrix.ros_distro }})
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needs: lint_job
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strategy:
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fail-fast: false
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matrix:
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include:
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- os_ver: "20.04"
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ros_distro: "foxy"
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image: "osrf/ros:foxy-desktop"
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- os_ver: "22.04"
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ros_distro: "humble"
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image: "osrf/ros:humble-desktop"
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runs-on: ubuntu-latest
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container:
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image: ${{ matrix.image }}
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steps:
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- name: Checkout Code
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uses: actions/checkout@v4
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- name: Install System Dependencies
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run: |
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apt-get update && apt-get install -y git build-essential nlohmann-json3-dev
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rosdep update
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rosdep install --from-paths . --ignore-src -y -r --rosdistro ${{ matrix.ros_distro }}
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- name: Setup LinkerHand SDK
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run: |
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git clone --branch v1.1.7 https://github.com/linker-bot/linkerhand-cpp-sdk.git /tmp/sdk
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cd /tmp/sdk && mkdir build && cd build
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cmake .. && make -j$(nproc) && make install && ldconfig
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- name: Build Workspace
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id: build_step
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run: |
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. /opt/ros/${{ matrix.ros_distro }}/setup.sh
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colcon build --event-handlers console_direct+
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- name: Run Tests
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id: test_step
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run: |
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. /opt/ros/${{ matrix.ros_distro }}/setup.sh
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# 运行测试，排除因网络导致易失败的 xmllint (已在 CMakeLists 中屏蔽则无需此处排除)
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colcon test --packages-select linker_hand_cpp_ros2 --event-handlers console_direct+
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colcon test-result --verbose
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- name: Generate Build Summary
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if: always()
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run: |
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echo "### 🚀 Build Summary for ${{ matrix.ros_distro }}" >> $GITHUB_STEP_SUMMARY
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echo "| Step | Status |" >> $GITHUB_STEP_SUMMARY
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echo "| --- | --- |" >> $GITHUB_STEP_SUMMARY
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echo "| Compilation | ${{ steps.build_step.outcome == 'success' && '✅ Passed' || '❌ Failed' }} |" >> $GITHUB_STEP_SUMMARY
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echo "| Unit Tests | ${{ steps.test_step.outcome == 'success' && '✅ Passed' || '❌ Failed' }} |" >> $GITHUB_STEP_SUMMARY

‎README.md‎

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# LinkerHand-CPP-ROS2
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[![CI/CD Pipeline](https://github.com/linker-bot/linkerhand-cpp-ros2/actions/workflows/ci.yml/badge.svg)](https://github.com/linker-bot/linkerhand-cpp-ros2/actions/workflows/ci.yml)
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[![ROS2 Version](https://img.shields.io/badge/ROS2-Foxy-blue.svg)](https://docs.ros.org/en/foxy/index.html)
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[![ROS2 Version](https://img.shields.io/badge/ROS2-Humble-blue.svg)](https://docs.ros.org/en/humble/index.html)
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[![License](https://img.shields.io/badge/License-Apache%202.0-orange.svg)](LICENSE)
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## 概述
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LinkerHand-CPP-ROS2 是灵心巧手科技有限公司开发，基于 LinkerHand-CPP-SDK 的ROS2封装版本。
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#### 环境安装
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[LinkerHand-CPP-SDK](../README.md)
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#### 工程编译
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cd linker_hand_cpp_sdk/ros2/
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## 📋 目录
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- [环境要求](#-环境要求)
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- [快速开始](#-快速开始)
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- [话题详情](#-话题详情)
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- [使用示例](#-使用示例)
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- [许可证](#-许可证)
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- [联系我们](#-联系我们)
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- [更新日志](#-更新日志)
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## 💻 环境要求
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- **操作系统**: Linux (Ubuntu 20.04+ 推荐)
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- **架构**: x86_64
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- **编译器**: GCC 7.0+ 或 Clang 5.0+
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- **CMake**: 3.15+
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- **依赖**: ROS2 (推荐 Foxy 或 Humble)、[linkerhand-cpp-sdk](https://github.com/linker-bot/linkerhand-cpp-sdk/releases/tag/v1.1.7)
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> 注：本项目仅支持linkerhand-cpp-sdk v1.1.7及以下版本
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## 🚀 快速开始
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#### 下载
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git clone https://github.com/linker-bot/linkerhand-cpp-ros2.git
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#### 编译
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cd linkerhand-cpp-ros2/
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colcon build
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#### 配置XML文件
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#### 运行
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source install/setup.bash
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ros2 launch linker_hand_cpp_ros2 run.xml
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ros2 launch linkerhand_cpp_ros2 run.xml
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#### 话题
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## 📚 话题详情
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| 话题名称 | I/O | 消息类型 | 描述 |
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| :--- | :--- | :--- | :--- |
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- '...'
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```
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## 示例
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## 💡 使用示例
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| 序号 | 文件名称 | 描述 |
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| :--- | :-------- | :--------------------------------------------- |
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| 1 | examples/src/action_group_show_l7 | L7型号手指舞示例 |
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| 2 | examples/src/action_group_show_l10 | L10型号手指舞示例 |
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| 3 | examples/src/action_group_show_l20 | L20型号手指舞示例 |
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| 4 | examples/src/loop_l20 | L20型号手势张开握拳示例 |
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| 5 | examples/src/show_ok_l20 | L20型号手势ok示例 |
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| 6 | examples/src/show_surround_index_finger_l20 | L20型号单指手势示例 |
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| 7 | examples/src/show_wave_l20 | L20型号wave手势示例 |
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| 8 | examples/src/action_group_show_l25 | L25型号手指舞示例 |
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| 9 | examples/src/loop_l25 | L25型号手势张开握拳示例 |
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| 1 | src/examples/src/action_group_show_l7 | L7型号手指舞示例 |
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| 2 | src/examples/src/action_group_show_l10 | L10型号手指舞示例 |
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| 3 | src/examples/src/action_group_show_l20 | L20型号手指舞示例 |
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| 4 | src/examples/src/loop_l20 | L20型号手势张开握拳示例 |
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| 5 | src/examples/src/show_ok_l20 | L20型号手势ok示例 |
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| 6 | src/examples/src/show_surround_index_finger_l20 | L20型号单指手势示例 |
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| 7 | src/examples/src/show_wave_l20 | L20型号wave手势示例 |
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| 8 | src/examples/src/action_group_show_l25 | L25型号手指舞示例 |
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| 9 | src/examples/src/loop_l25 | L25型号手势张开握拳示例 |
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## 📄 许可证
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本项目采用 [Apache 2.0 许可证](LICENSE)。
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Copyright (c) 2026 灵心巧手（北京）科技有限公司
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## 📞 联系我们
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- **官方网站**: [https://linkerbot.cn](https://linkerbot.cn)
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- **关于我们**: [https://linkerbot.cn/aboutUs](https://linkerbot.cn/aboutUs)
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- **GitHub**: [https://github.com/linker-bot/linkerhand-cpp-ros2](https://github.com/linker-bot/linkerhand-cpp-ros2)
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## 📝 更新日志
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详细的版本更新记录请参考 [CHANGELOG.md](CHANGELOG.md)（待创建）。
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---
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**注意**: 使用前请确保设备已正确连接并配置好通信接口。

‎src/linker_hand_cpp_ros2/CMakeLists.txt‎

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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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# the following line skips the linter which checks for copyrights
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# uncomment the line when a copyright and license is not present in all source files
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#set(ament_cmake_copyright_FOUND TRUE)
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# the following line skips cpplint (only works in a git repo)
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# uncomment the line when this package is not in a git repo
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#set(ament_cmake_cpplint_FOUND TRUE)
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# 添加以下行来跳过风格和版权检查
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set(ament_cmake_xmllint_FOUND TRUE)
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set(ament_cmake_copyright_FOUND TRUE)
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set(ament_cmake_cpplint_FOUND TRUE)
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set(ament_cmake_uncrustify_FOUND TRUE)
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set(ament_cmake_lint_cmake_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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endif()
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