CAN¶

SocketCAN / CAN FD hardware interface plugins for 灵巧手. Freedom V2 and 夹爪 are out of scope on that README.

Repository: fiveages-sim/can-ros2-control · README §4

Plugins: O6CanHardware, L6CanHardware, O7CanHardware, FreedomCanHardware, InspireCanfdHardware.

How to read Startup only / Runtime: Hardware Interfaces.

LinkerHand `O6CanHardware` / `L6CanHardware` / `O7CanHardware`¶

Parameter	Type / default	When	Meaning
`can_interface`	string / `"can0"`	Startup only	SocketCAN
`hand_side`	string / `"right"`	Startup only	Left `0x28`, right `0x27`
`can_id`	optional	Startup only	Overrides default ID
`read_feedback`	bool / `true`	Startup only	Read device feedback
`read_tactile`	bool / `false`	Startup only	Five-finger tactile topics
`tactile_timeout_ms`	int / `100`	Startup only	Tactile timeout (ms)
`tactile_period_ms`	int / `20`	Startup only	Tactile period (ms)
`feedback_timeout_ms`	ignored	—	README: non-blocking read.
`command_deadband_raw`	`0`	Startup only	README: kept for old xacro; not used to suppress sends
`hand_type` / `send_initial_command`	source	Startup only	See type / default
`left_tool_torque` / `right_tool_torque`	double / `1.0`	Runtime	Side-matched, 0–255 on the wire
`left_tool_velocity` / `right_tool_velocity`	double / `1.0`	Runtime	Side-matched

All rows in this table are Startup only.

All rows in this table are Startup only.

Parameter	Type / default	Meaning
`can_interface`	string / `"can0"`	CAN FD
`hand_side`	string / `"left"`	`hand_id:=auto` → left `2`, right `1`
`hand_id`	`"auto"`	Aliases `slave_id` / `device_id`
`read_feedback`	bool / `true`	Read device feedback
`feedback_timeout_ms`	int / `2`	Feedback timeout (ms)
`default_speed` / `default_force`	int / `4000` / `6000`	Init registers
`wait_write_ack`	(README; no default listed)	Wait for write ACK
`command_deadband_raw` / `frame_tx_retries` / `inter_frame_delay_us`	source	Command deadband