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‎.gitignore‎

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build
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install
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log

‎README.md‎

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# LinkerHand-CPP-ROS2
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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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colcon build
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#### 配置XML文件
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```bash
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<?xml version="1.0" encoding="utf-8"?>
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<launch>
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<!-- 参数声明 -->
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<arg name="VERSION" default="1.1.6" description="版本号"/>
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<!-- 左手配置 -->
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<arg name="LEFT_HAND_EXISTS" default="true" description="是否存在左手"/>
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<arg name="LEFT_TOUCH" default="true" description="是否有压力传感器"/>
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<arg name="LEFT_JOINTS" default="L10" description="左手型号 L7 \ L10 \ L20 \ L21 \ L25"/>
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<arg name="LEFT_CANBUS" default="can0" description="can0 \ can1"/>
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<!-- 右手配置 -->
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<arg name="RIGHT_HAND_EXISTS" default="false" description="是否存在右手"/>
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<arg name="RIGHT_TOUCH" default="false" description="是否有压力传感器"/>
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<arg name="RIGHT_JOINTS" default="L10" description="右手型号 L7 \ L10 \ L20 \ L21 \ L25"/>
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<arg name="RIGHT_CANBUS" default="can0" description="can0 \ can1"/>
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<!-- 通用配置 -->
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<arg name="HAND_SPEED" default="100" description="关节速度 0 ~ 255"/>
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<arg name="HAND_EFFORT" default="200" description="关节扭矩 0 ~ 255"/>
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......
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</launch>
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```
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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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#### 话题
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| 话题名称 | I/O | 消息类型 | 描述 |
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| :--- | :--- | :--- | :--- |
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| /left_hand_control | Input | sensor_msgs/msg/JointState | 左手控制指令 |
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| /left_hand_settings | Input | sensor_msgs/msg/String | 左手设置指令 |
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| /left_hand_touch | Output | std_msgs/msg/Float32MultiArray | 左手触觉传感器数据 |
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| /left_hand_state | Output | sensor_msgs/msg/JointState | 左手关节状态 |
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| /left_hand_info | Output | std_msgs/msg/String | 左手基本信息 |
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| /right_hand_control | Input | sensor_msgs/msg/JointState | 左手控制指令 |
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| /right_hand_settings | Input | sensor_msgs/msg/String | 右手设置指令 |
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| /right_hand_touch | Output | std_msgs/msg/Float32MultiArray | 左手触觉传感器数据 |
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| /right_hand_state | Output | sensor_msgs/msg/JointState | 左手关节状态 |
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| /right_hand_info | Output | std_msgs/msg/String | 左手基本信息 |
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针对以上话题的具体字段及其详细描述如下表所示：
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- 控制关节话题 /left_hand_control
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```bash
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$ ros2 topic echo /left_hand_control
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header:
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seq: 256
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stamp:
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secs: 1744343699
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nsecs: 232647418
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frame_id: ''
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name: []
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position: [155.0, 162.0, 176.0, 125.0, 255.0, 255.0, 180.0, 179.0, 181.0, 68.0]
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velocity: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
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effort: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
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```
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- position与手指关节对照表
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```bash
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L7: ["大拇指弯曲", "大拇指横摆","食指弯曲", "中指弯曲", "无名指弯曲","小拇指弯曲","拇指旋转"]
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L10: ["拇指根部", "拇指侧摆","食指根部", "中指根部", "无名指根部","小指根部","食指侧摆","无名指侧摆","小指侧摆","拇指旋转"]
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L20: ["拇指根部", "食指根部", "中指根部", "无名指根部","小指根部","拇指侧摆","食指侧摆","中指侧摆","无名指侧摆","小指侧摆","拇指横摆","预留","预留","预留","预留","拇指尖部","食指末端","中指末端","无名指末端","小指末端"]
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L21: ["大拇指根部", "食指根部", "中指根部","无名指根部","小拇指根部","大拇指侧摆","食指侧摆","中指侧摆","无名指侧摆","小拇指侧摆","大拇指横滚","预留","预留","预留","预留","大拇指中部","预留","预留","预留","预留","大拇指指尖","食指指尖","中指指尖","无名指指尖","小拇指指尖"]
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L25: ["大拇指根部", "食指根部", "中指根部","无名指根部","小拇指根部","大拇指侧摆","食指侧摆","中指侧摆","无名指侧摆","小拇指侧摆","大拇指横滚","预留","预留","预留","预留","大拇指中部","食指中部","中指中部","无名指中部","小拇指中部","大拇指指尖","食指指尖","中指指尖","无名指指尖","小拇指指尖"]
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```
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---
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- 设置指令话题 /left_hand_settings
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```bash
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# 清除故障码
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$ ros2 topic pub /left_hand_setting std_msgs/msg/String "data: '{\"setting_cmd\": \"clear_faults\"}'"
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# 设置电流
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$ ros2 topic pub /left_hand_setting std_msgs/msg/String "data: '{\"setting_cmd\": \"set_electric_current\", \"params\": {\"electric_current\": 50}}'"
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# 使能
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$ ros2 topic pub /left_hand_setting std_msgs/msg/String "data: '{\"setting_cmd\": \"enable\"}'"
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# 失能
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$ ros2 topic pub /left_hand_setting std_msgs/msg/String "data: '{\"setting_cmd\": \"disable\"}'"
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```
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---
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- 关节反馈话题 /left_hand_state
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```bash
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$ ros2 topic echo /left_hand_state
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header:
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seq: 256
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stamp:
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secs: 1744343699
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nsecs: 232647418
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frame_id: ''
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name: []
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position: [155.0, 162.0, 176.0, 125.0, 255.0, 255.0, 180.0, 179.0, 181.0, 68.0]
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velocity: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
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effort: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
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```
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---
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- 左手基本信息 /left_hand_info
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```bash
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$ ros2 topic echo /left_hand_info
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data: 'Hand direction: Left hand
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Software Version: 7.0.0.0
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Hardware Version: 2.0.19.0
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Temperature: 47 49 40 41 0 39 0 46 42 0 0 39 0 49...'
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```
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- 压感数据 /left_hand_touch
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注意：反馈数据为一个一维数组，长度为360，由每个手指的压感数据组成。单个指头压感数据长度是72（6*12矩阵），每个手指压感数据需要单独拆分。（仅适用点阵式传感器）
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```bash
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$ ros2 topic echo /left_hand_touch
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layout:
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dim: []
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data_offset: 0
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data:
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- 0.0
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- 0.0
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- 0.0
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- 0.0
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- 0.0
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- '...'
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```
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## 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 |

‎src/examples/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.5)
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project(examples)
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# Default to C99
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if(NOT CMAKE_C_STANDARD)
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set(CMAKE_C_STANDARD 99)
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endif()
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# Default to C++14
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 14)
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endif()
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# Enable additional compiler warnings
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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if(CMAKE_SYSTEM_PROCESSOR MATCHES "x86_64")
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set(LIB_SUBDIR "x86_64")
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elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "aarch64|arm64")
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set(LIB_SUBDIR "aarch64")
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else()
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message(WARNING "Unknown architecture, defaulting to x86_64")
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set(LIB_SUBDIR "x86_64")
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endif()
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# Find dependencies
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find_package(ament_cmake REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(std_msgs REQUIRED)
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find_package(sensor_msgs REQUIRED)
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# Define common include directories
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set(COMMON_INCLUDE_DIRS
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/usr/local/linker_hand_cpp_sdk/include
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/usr/local/linker_hand_cpp_sdk/third_party/Robotic_Arm/include
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include
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)
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#-----------------------------------------------------------------------------
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# LINKER_HAND_CPP_SDK
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#-----------------------------------------------------------------------------
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find_library(LINKER_HAND_LIB
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NAMES linkerhand_cpp_sdk linkerhand_cpp
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PATHS ${CMAKE_CURRENT_SOURCE_DIR}/lib/${LIB_SUBDIR}
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/usr/local/lib/linkerhand-cpp-sdk/${LIB_SUBDIR}
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/usr/lib/linkerhand-cpp-sdk/${LIB_SUBDIR}
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${CMAKE_INSTALL_PREFIX}/lib/linkerhand-cpp-sdk/${LIB_SUBDIR}
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NO_DEFAULT_PATH
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)
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set(LINKER_HAND_INCLUDE_DIR
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${CMAKE_CURRENT_SOURCE_DIR}/include
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/usr/local/include/linkerhand-cpp-sdk
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/usr/include/linkerhand-cpp-sdk
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${CMAKE_INSTALL_PREFIX}/include/linkerhand-cpp-sdk
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)
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if(NOT LINKER_HAND_LIB)
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message(FATAL_ERROR "linkerhand_cpp_sdk library not found!")
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endif()
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if(NOT LINKER_HAND_INCLUDE_DIR)
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message(FATAL_ERROR "LinkerHand headers not found!")
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endif()
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message(STATUS "Found linkerhand_cpp_sdk library: ${LINKER_HAND_LIB}")
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message(STATUS "Found LinkerHand headers: ${LINKER_HAND_INCLUDE_DIR}")
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#-----------------------------------------------------------------------------
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# INCLUDE_DIRECTORIES
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#-----------------------------------------------------------------------------
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include_directories(
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${CMAKE_CURRENT_SOURCE_DIR}/include
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${LINKER_HAND_INCLUDE_DIR}
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)
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# ----------------------------------------------------------------------
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# Define common link libraries
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set(COMMON_LIBS ${LINKER_HAND_LIB} pthread)
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# Define source files
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set(SOURCE_FILES
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action_group_show_l7
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action_group_show_l10
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action_group_show_l20
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action_group_show_l25
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loop_l20
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loop_l25
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show_surround_index_finger_l20
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show_ok_l20
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show_wave_l20
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)
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# Create and name a shared library
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foreach(SOURCE_FILE ${SOURCE_FILES})
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add_executable(${SOURCE_FILE} src/${SOURCE_FILE}.cpp)
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target_include_directories(${SOURCE_FILE} PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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)
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ament_target_dependencies(${SOURCE_FILE}
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rclcpp
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std_msgs
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sensor_msgs
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)
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target_link_libraries(${SOURCE_FILE} ${COMMON_LIBS})
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install(TARGETS ${SOURCE_FILE}
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DESTINATION lib/${PROJECT_NAME}
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)
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endforeach()
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# Install launch files
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# install(DIRECTORY launch
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# DESTINATION share/${PROJECT_NAME}/
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# )
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# Install configuration files
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# install(DIRECTORY config
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# DESTINATION share/${PROJECT_NAME}/
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# )
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# Install settings file
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# install(FILES config/setting.yaml
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# DESTINATION config
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# )
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# If BUILD_TESTING is enabled, include test-related dependencies
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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ament_lint_auto_find_test_dependencies()
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endif()
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# Package information
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ament_package()

‎src/examples/package.xml‎

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>examples</name>
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<version>0.0.0</version>
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<description>TODO: Package description</description>
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<maintainer email="liangshaoteng2012@163.com">lst</maintainer>
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<license>Apache2.0</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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<export>
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<build_type>ament_cmake</build_type>
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<depend>rclcpp</depend>
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<depend>std_msgs</depend>
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<depend>sensor_msgs</depend>
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</export>
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</package>

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