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。
- 操作系统: Linux (Ubuntu 20.04+ 推荐)
- 架构: x86_64
- 编译器: GCC 7.0+ 或 Clang 5.0+
- CMake: 3.15+
- 依赖: ROS2 (推荐 Foxy 或 Humble)、linkerhand-cpp-sdk
git clone https://github.com/linker-bot/linkerhand-cpp-ros2.git
cd linkerhand-cpp-ros2/
colcon build
<?xml version="1.0" encoding="utf-8"?>
<launch>
<!-- 参数声明 -->
<arg name="VERSION" default="1.1.6" description="版本号"/>
<!-- 左手配置 -->
<arg name="LEFT_HAND_EXISTS" default="true" description="是否存在左手"/>
<arg name="LEFT_TOUCH" default="true" description="是否有压力传感器"/>
<arg name="LEFT_JOINTS" default="L10" description="左手型号 L7 \ L10 \ L20 \ L21 \ L25"/>
<arg name="LEFT_CANBUS" default="can0" description="can0 \ can1"/>
<!-- 右手配置 -->
<arg name="RIGHT_HAND_EXISTS" default="false" description="是否存在右手"/>
<arg name="RIGHT_TOUCH" default="false" description="是否有压力传感器"/>
<arg name="RIGHT_JOINTS" default="L10" description="右手型号 L7 \ L10 \ L20 \ L21 \ L25"/>
<arg name="RIGHT_CANBUS" default="can0" description="can0 \ can1"/>
<!-- 通用配置 -->
<arg name="HAND_SPEED" default="100" description="关节速度 0 ~ 255"/>
<arg name="HAND_EFFORT" default="200" description="关节扭矩 0 ~ 255"/>
......
</launch>source install/setup.bash
ros2 launch linkerhand_cpp_ros2 run.xml
| 话题名称 | I/O | 消息类型 | 描述 |
|---|---|---|---|
| /left_hand_control | Input | sensor_msgs/msg/JointState | 左手控制指令 |
| /left_hand_settings | Input | sensor_msgs/msg/String | 左手设置指令 |
| /left_hand_touch | Output | std_msgs/msg/Float32MultiArray | 左手触觉传感器数据 |
| /left_hand_state | Output | sensor_msgs/msg/JointState | 左手关节状态 |
| /left_hand_info | Output | std_msgs/msg/String | 左手基本信息 |
| /right_hand_control | Input | sensor_msgs/msg/JointState | 左手控制指令 |
| /right_hand_settings | Input | sensor_msgs/msg/String | 右手设置指令 |
| /right_hand_touch | Output | std_msgs/msg/Float32MultiArray | 左手触觉传感器数据 |
| /right_hand_state | Output | sensor_msgs/msg/JointState | 左手关节状态 |
| /right_hand_info | Output | std_msgs/msg/String | 左手基本信息 |
针对以上话题的具体字段及其详细描述如下表所示：
- 控制关节话题 /left_hand_control
$ ros2 topic echo /left_hand_control
header:
seq: 256
stamp:
secs: 1744343699
nsecs: 232647418
frame_id: ''
name: []
position: [155.0, 162.0, 176.0, 125.0, 255.0, 255.0, 180.0, 179.0, 181.0, 68.0]
velocity: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
effort: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]- position与手指关节对照表
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"]
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"]
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"]
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"]
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"]- 设置指令话题 /left_hand_settings
# 清除故障码
$ ros2 topic pub /left_hand_setting std_msgs/msg/String "data: '{\"setting_cmd\": \"clear_faults\"}'"
# 设置电流
$ ros2 topic pub /left_hand_setting std_msgs/msg/String "data: '{\"setting_cmd\": \"set_electric_current\", \"params\": {\"electric_current\": 50}}'"
# 使能
$ ros2 topic pub /left_hand_setting std_msgs/msg/String "data: '{\"setting_cmd\": \"enable\"}'"
# 失能
$ ros2 topic pub /left_hand_setting std_msgs/msg/String "data: '{\"setting_cmd\": \"disable\"}'"
- 关节反馈话题 /left_hand_state
$ ros2 topic echo /left_hand_state
header:
seq: 256
stamp:
secs: 1744343699
nsecs: 232647418
frame_id: ''
name: []
position: [155.0, 162.0, 176.0, 125.0, 255.0, 255.0, 180.0, 179.0, 181.0, 68.0]
velocity: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
effort: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]- 左手基本信息 /left_hand_info
$ ros2 topic echo /left_hand_info
data: 'Hand direction: Left hand
Software Version: 7.0.0.0
Hardware Version: 2.0.19.0
Temperature: 47 49 40 41 0 39 0 46 42 0 0 39 0 49...'-
压感数据 /left_hand_touch
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）
$ ros2 topic echo /left_hand_touch
layout:
dim: []
data_offset: 0
data:
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- '...'| 序号 | 文件名称 | 描述 |
|---|---|---|
| 1 | src/examples/src/action_group_show_l7 | L7型号手指舞示例 |
| 2 | src/examples/src/action_group_show_l10 | L10型号手指舞示例 |
| 3 | src/examples/src/action_group_show_l20 | L20型号手指舞示例 |
| 4 | src/examples/src/loop_l20 | L20型号手势张开握拳示例 |
| 5 | src/examples/src/show_ok_l20 | L20型号手势ok示例 |
| 6 | src/examples/src/show_surround_index_finger_l20 | L20型号单指手势示例 |
| 7 | src/examples/src/show_wave_l20 | L20型号wave手势示例 |
| 8 | src/examples/src/action_group_show_l25 | L25型号手指舞示例 |
| 9 | src/examples/src/loop_l25 | L25型号手势张开握拳示例 |
本项目采用 Apache 2.0 许可证。
Copyright (c) 2026 灵心巧手（北京）科技有限公司
- 官方网站: https://linkerbot.cn
- 关于我们: https://linkerbot.cn/aboutUs
- GitHub: https://github.com/linker-bot/linkerhand-cpp-ros2
详细的版本更新记录请参考 CHANGELOG.md（待创建）。
注意: 使用前请确保设备已正确连接并配置好通信接口。