wuji_bringup

wuji_bringup starts Wuji Hand 2 and Wuji Glove drivers. Hand 2 launch files integrate descriptions and an optional RViz view. The Glove launch contains only its data driver. The package also installs the status and wave Demos described below.

Wuji Hand 2 Launch

ros2 launch wuji_bringup hand2.launch.py \
  hand_side:=left \
  model_revision:=1 \
  namespace:=hand

The launch file reads the URDF from the installed wuji_hand2_1_description or wuji_hand2_2_description package and doesn’t copy the model files.

The launch file doesn’t publish a static transform from the hand root to a robot or world frame. The model root is the arm-flange mount frame, l_mount or r_mount. Connect it in the parent robot’s TF tree. Hand 2.2 descriptions include fingertip sensor frames. Hand 2.1 descriptions don’t include them, and bringup doesn’t create replacement frames.

Wuji Glove Launch

Start one Glove data driver:

ros2 launch wuji_bringup glove.launch.py \
  serial_number:=<serial-number> namespace:=<namespace>

The launch starts one driver node without respawning it and shuts down when the driver exits. It doesn’t load a model, publish transforms, start visualization, or expose control and calibration interfaces.

Run the Demos

Use the view launch and Demos in this order. Run the launch command in one terminal, and run each Demo in another terminal after sourcing the workspace setup file.

hand2_view.launch.py accepts the hand2.launch.py arguments and also starts RViz. It requires serial_number and always runs with auto_enable:=false.

ros2 launch wuji_bringup hand2_view.launch.py \
  serial_number:=<serial-number> hand_side:=<left-or-right> \
  namespace:=<namespace>

ros2 run wuji_bringup hand2_status_demo --ros-args \
  -r __ns:=/<namespace>

Stop the view launch after the status check. Start the hand with control enabled:

ros2 launch wuji_bringup hand2.launch.py \
  serial_number:=<serial-number> hand_side:=<left-or-right> \
  namespace:=<namespace> auto_enable:=true

Run the wave Demo in another terminal:

ros2 run wuji_bringup hand2_wave_demo --ros-args \
  -r __ns:=/<namespace>

Use the same namespace for each command.

Status Demo

hand2_status_demo counts joint state, joint diagnostics, and IMU frames for 10 seconds by default, and it prints each topic’s average receive rate. It requires at least one 20-position joint state, one 20-entry joint diagnostics message, and one IMU message. It subscribes only to raw ROS topics and makes no control or configuration calls. The Demo doesn’t independently verify message contents or the device serial number. The launch selector and ROS namespace determine the checked device.

The driver attempts to disable the hand during shutdown, so the complete launch lifecycle isn’t physically read-only.

Pressing Ctrl+C ends the status Demo with a zero exit status after it releases its ROS resources.

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