wuji-ros2-control

Hardware interface plugin for Wuji Hand2.

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This package requires private repository access.

Repository: wuji-ros2-control (private)

Purpose

Ethernet hardware interface plugin for Wuji Hand2 dexterous hands.

Features

  • Network device discovery

  • Multi-finger control

  • Force feedback

Configuration

<ros2_control name="WujiHand" type="system">
  <hardware>
    <plugin>wuji_ros2_control/WujiHardwareInterface</plugin>
    <param name="hand_side">left</param>
  </hardware>
</ros2_control>

Parameters

Parameter

Description

hand_side

left or right

Network

Hands are discovered via network scan. Configuration involves:

  1. Network interface selection

  2. Hand discovery

  3. Side assignment

Topics

Topic

Type

Description

/wuji_hand/joint_states

JointState

Current finger positions

/wuji_hand/joint_commands

JointState

Target positions