wuji_hand2_driver

wuji_hand2_driver connects one Wuji Hand 2 to ROS2. It publishes state and sensor streams, accepts joint commands, and exposes device controls.

Run the Node

Select a device by serial number:

ros2 run wuji_hand2_driver wuji_hand2_node \
  --ros-args -p serial_number:=<serial-number>

You can also select a device with endpoint or hand_side. If no selector is set, the node connects only when discovery finds one unique Wuji Hand 2. It exits when discovery finds multiple candidates.

All topic and service names are relative. Use a ROS namespace to run more than one driver.

Parameters

The node reads parameters only during startup.

When both serial_number and hand_side are set, the serial number selects the device and the side validates it. When endpoint is set with another selector, the node connects to the endpoint and validates the supplied identity.

Topics

The fingertip point_forces use N. total_force also uses N, and temperature uses degrees Celsius. IMU angular velocity uses rad/s, and linear acceleration uses m/s². The driver publishes the SDK frame ID and converts the SDK Unix timestamp in microseconds to the ROS timestamp.

Wuji Hand 2 currently doesn’t provide an orientation estimate. The driver sets orientation_covariance[0] to -1 to mark orientation unavailable. JointState.position uses rad, velocity uses rad/s, and effort uses A as the current SDK contract. The effort field is a current-like torque proxy, not measured N·m. Published joint_states entries follow the valid entries in each SDK frame. The driver keeps name, position, velocity, and effort aligned, but it doesn’t promise dense-index ordering for state messages.

The joint_diagnostics topic directly publishes per-joint hardware data from the Wuji SDK, including status, error, electrical, temperature, and communication fields. It isn’t a ROS standard health interface. The driver doesn’t publish /diagnostics.

Joint Diagnostics Fields

JointDiagnosticsArray.header contains the converted SDK timestamp and frame ID. The array contains only valid, online joint entries from the SDK frame.

Joint Commands

Named commands are the recommended input form. Set name to formal left-side or right-side URDF joint names. Set position to the same length. Named commands can target a subset of joints and can use any order.

Leave name empty only for a full 20-joint command. In this form, position must have exactly 20 entries in the dense order below. This ordering is a driver contract because ROS doesn’t define an anonymous JointState order.

For either form, velocity and effort can be empty. The driver fills an empty field with zero. A nonempty field must match the command joint count. Unknown names, duplicate names, opposite-side names, invalid lengths, NaN, infinity, and values outside the SDK float range reject the complete command. The driver doesn’t send a partial update.

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