wuji_glove_driver

wuji_glove_driver connects one Wuji Glove to ROS2 and publishes its SDK data streams. It is a thin data adapter that preserves SDK timestamps, frame identifiers, and payload values. It doesn’t create subscriptions, services, or actions, and it doesn’t load a model, publish transforms, expose controls, or provide calibration interfaces.

Run the Node

Select a device by serial number:

ros2 run wuji_glove_driver wuji_glove_node \
  --ros-args -p serial_number:=<serial-number>

You can also use the installed launch file:

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

All topic names are relative. Use a ROS namespace when running more than one driver.

Device Selection

The node applies selectors in this priority order:

1. endpoint
2. serial_number
3. hand_side
4. Unique Wuji Glove discovery

An endpoint selects the connection directly. Any supplied serial number or hand side then validates the connected device. When both serial number and hand side are set, the serial number selects the device and the hand side validates it.

With no selector, the node connects only after discovery finds one unique Wuji Glove. It keeps waiting when none are found and fails when multiple candidates are found. Set serial_number to disambiguate multiple devices. Selection, connection, identity reads, and retries share the connect_timeout deadline.

Parameters

The node reads these 13 parameters only during startup. joint_angles is always enabled and has no publish parameter.

hand_side accepts left, right, or an empty value. connect_timeout must be finite and nonnegative.

Topics

All 10 topics use keep-last 5, best-effort, volatile sensor-data QoS. Output rates are device-dependent because the Wuji SDK doesn’t specify them.

The driver maps the SDK imu_raw/palm resource to imu/palm. It doesn’t publish the SDK-derived imu_data/palm resource.

The wrapper converts without deriving new values. It preserves SDK IMU fields, complete skeleton and tactile arrays, and self-described point-cloud fields. HandJointAngles preserves each finger’s valid angle count and confidence.

Fault and Shutdown Behavior

The required joint_angles stream must start successfully. If it ends or reports an error while running, the node exits with a nonzero status. An optional stream that can’t start or later ends is stopped and reported without terminating the other streams.

The driver doesn’t reconnect in process. On shutdown it closes every subscription in reverse order, disconnects the device, and releases the SDK runtime. Callback code doesn’t close its own subscription.

Status Demo

Start glove.launch.py, then run the read-only status Demo with the same namespace:

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

The Demo prints the five fingers’ angles and confidence for every joint_angles frame. After 10 seconds, it prints each topic’s frame count and ROS receive rate. The rate uses the interval from the first callback through the last callback, so it excludes discovery and first-frame wait time. It succeeds when at least one joint_angles frame arrives. Missing optional streams produce warnings.

Use --duration <seconds> before --ros-args to change the observation time.

Add --rate-only before --ros-args to suppress per-frame joint angle output while measuring receive rates. Receive rates describe frames processed by the Demo, not the device’s source output rate.

Hardware Tests

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