wuji_msgs

wuji_msgs

wuji_msgs defines the public ROS2 messages and services used by Wuji Hand 2 and Wuji Glove drivers.

Messages

Interface	Purpose
`FingertipTactile.msg`	Timestamped fingertip force vectors, total force, temperature, and metadata digest
`JointDiagnostics.msg`	One joint’s `nid`, URDF name, electrical values, error code, and communication counters
`JointDiagnosticsArray.msg`	Timestamped list of joint diagnostic entries
`TrackedPose.msg`	Named tracked pose with confidence
`TrackedPoseArray.msg`	Timestamped tracked pose entries
`FingerJointAngles.msg`	Named finger joint angles with confidence
`HandJointAngles.msg`	Timestamped five-finger joint angles
`TactileGrid.msg`	Timestamped tactile grid data
`TactileZone.msg`	Named tactile zone values
`TactileZoneArray.msg`	Timestamped tactile zone entries

In FingertipTactile, point_forces and total_force use N. temperature uses degrees Celsius.

The Wuji Glove driver uses TrackedPose, TrackedPoseArray, FingerJointAngles, HandJointAngles, TactileGrid, TactileZone, and TactileZoneArray. HandJointAngles preserves each finger’s angle count and confidence instead of projecting the data into a lossy standard joint message.

Services

Interface	Request
`SetEnabled.srv`	`enabled` and a 20-entry joint mask
`ClearFaults.srv`	A 20-entry joint mask
`SetEffortLimit.srv`	One effort limit for every joint
`SetEffortLimits.srv`	20 effort limits in dense order
`SetMitParams.srv`	20 `kp` values and 20 `kd` values in dense order

Each response contains success and message. Fixed 20-entry arrays use the dense order documented in wuji_hand2_driver. These services don’t carry joint names and don’t accept partial arrays.

Inspect Interfaces

After building and sourcing the workspace:

ros2 interface show wuji_msgs/msg/HandJointAngles
ros2 interface show wuji_msgs/srv/SetEnabled

Contact

For any questions, please contact support@wuji.tech.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rosidl_default_generators
	rosidl_default_runtime
	ament_cmake_pytest
	ament_lint_auto
	ament_lint_common
	rosidl_runtime_py
	geometry_msgs
	std_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
wuji_bringup
wuji_glove_driver
wuji_hand2_driver

Launch files

No launch files found

Services

Plugins

No plugins found.

Recent questions tagged `wuji_msgs` at Robotics Stack Exchange

No version for distro jazzy showing lyrical. Known supported distros are highlighted in the buttons above.

wuji_msgs package from wuji_ros2 repo

wuji_bringup wuji_glove_driver wuji_hand2_driver wuji_msgs wuji_sdk_vendor wuji_tools

ROS Distro
lyrical

Package Summary

Version	2026.10.26
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/wuji-technology/wuji-ros2.git
VCS Type	git
VCS Version	main
Last Updated	2026-10-24
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS 2 messages and services for Wuji devices.

Additional Links

Maintainers

Wuji Technology

Authors

No additional authors.

wuji_msgs

wuji_msgs defines the public ROS2 messages and services used by Wuji Hand 2 and Wuji Glove drivers.

Messages

Interface	Purpose
`FingertipTactile.msg`	Timestamped fingertip force vectors, total force, temperature, and metadata digest
`JointDiagnostics.msg`	One joint’s `nid`, URDF name, electrical values, error code, and communication counters
`JointDiagnosticsArray.msg`	Timestamped list of joint diagnostic entries
`TrackedPose.msg`	Named tracked pose with confidence
`TrackedPoseArray.msg`	Timestamped tracked pose entries
`FingerJointAngles.msg`	Named finger joint angles with confidence
`HandJointAngles.msg`	Timestamped five-finger joint angles
`TactileGrid.msg`	Timestamped tactile grid data
`TactileZone.msg`	Named tactile zone values
`TactileZoneArray.msg`	Timestamped tactile zone entries

In FingertipTactile, point_forces and total_force use N. temperature uses degrees Celsius.

The Wuji Glove driver uses TrackedPose, TrackedPoseArray, FingerJointAngles, HandJointAngles, TactileGrid, TactileZone, and TactileZoneArray. HandJointAngles preserves each finger’s angle count and confidence instead of projecting the data into a lossy standard joint message.

Services

Interface	Request
`SetEnabled.srv`	`enabled` and a 20-entry joint mask
`ClearFaults.srv`	A 20-entry joint mask
`SetEffortLimit.srv`	One effort limit for every joint
`SetEffortLimits.srv`	20 effort limits in dense order
`SetMitParams.srv`	20 `kp` values and 20 `kd` values in dense order

Each response contains success and message. Fixed 20-entry arrays use the dense order documented in wuji_hand2_driver. These services don’t carry joint names and don’t accept partial arrays.

Inspect Interfaces

After building and sourcing the workspace:

ros2 interface show wuji_msgs/msg/HandJointAngles
ros2 interface show wuji_msgs/srv/SetEnabled

Contact

For any questions, please contact support@wuji.tech.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rosidl_default_generators
	rosidl_default_runtime
	ament_cmake_pytest
	ament_lint_auto
	ament_lint_common
	rosidl_runtime_py
	geometry_msgs
	std_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
wuji_bringup
wuji_glove_driver
wuji_hand2_driver

Launch files

No launch files found

Services

Plugins

No plugins found.

Recent questions tagged `wuji_msgs` at Robotics Stack Exchange

No version for distro kilted showing lyrical. Known supported distros are highlighted in the buttons above.

wuji_msgs package from wuji_ros2 repo

wuji_bringup wuji_glove_driver wuji_hand2_driver wuji_msgs wuji_sdk_vendor wuji_tools

ROS Distro
lyrical

Package Summary

Version	2026.10.26
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/wuji-technology/wuji-ros2.git
VCS Type	git
VCS Version	main
Last Updated	2026-10-24
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS 2 messages and services for Wuji devices.

Additional Links

Maintainers

Wuji Technology

Authors

No additional authors.

wuji_msgs

wuji_msgs defines the public ROS2 messages and services used by Wuji Hand 2 and Wuji Glove drivers.

Messages

Interface	Purpose
`FingertipTactile.msg`	Timestamped fingertip force vectors, total force, temperature, and metadata digest
`JointDiagnostics.msg`	One joint’s `nid`, URDF name, electrical values, error code, and communication counters
`JointDiagnosticsArray.msg`	Timestamped list of joint diagnostic entries
`TrackedPose.msg`	Named tracked pose with confidence
`TrackedPoseArray.msg`	Timestamped tracked pose entries
`FingerJointAngles.msg`	Named finger joint angles with confidence
`HandJointAngles.msg`	Timestamped five-finger joint angles
`TactileGrid.msg`	Timestamped tactile grid data
`TactileZone.msg`	Named tactile zone values
`TactileZoneArray.msg`	Timestamped tactile zone entries

In FingertipTactile, point_forces and total_force use N. temperature uses degrees Celsius.

The Wuji Glove driver uses TrackedPose, TrackedPoseArray, FingerJointAngles, HandJointAngles, TactileGrid, TactileZone, and TactileZoneArray. HandJointAngles preserves each finger’s angle count and confidence instead of projecting the data into a lossy standard joint message.

Services

Interface	Request
`SetEnabled.srv`	`enabled` and a 20-entry joint mask
`ClearFaults.srv`	A 20-entry joint mask
`SetEffortLimit.srv`	One effort limit for every joint
`SetEffortLimits.srv`	20 effort limits in dense order
`SetMitParams.srv`	20 `kp` values and 20 `kd` values in dense order

Each response contains success and message. Fixed 20-entry arrays use the dense order documented in wuji_hand2_driver. These services don’t carry joint names and don’t accept partial arrays.

Inspect Interfaces

After building and sourcing the workspace:

ros2 interface show wuji_msgs/msg/HandJointAngles
ros2 interface show wuji_msgs/srv/SetEnabled

Contact

For any questions, please contact support@wuji.tech.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rosidl_default_generators
	rosidl_default_runtime
	ament_cmake_pytest
	ament_lint_auto
	ament_lint_common
	rosidl_runtime_py
	geometry_msgs
	std_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
wuji_bringup
wuji_glove_driver
wuji_hand2_driver

Launch files

No launch files found

Services

Plugins

No plugins found.

Recent questions tagged `wuji_msgs` at Robotics Stack Exchange

wuji_msgs package from wuji_ros2 repo

wuji_bringup wuji_glove_driver wuji_hand2_driver wuji_msgs wuji_sdk_vendor wuji_tools

ROS Distro
lyrical

Package Summary

Version	2026.10.26
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/wuji-technology/wuji-ros2.git
VCS Type	git
VCS Version	main
Last Updated	2026-10-24
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS 2 messages and services for Wuji devices.

Additional Links

Maintainers

Wuji Technology

Authors

No additional authors.

wuji_msgs

wuji_msgs defines the public ROS2 messages and services used by Wuji Hand 2 and Wuji Glove drivers.

Messages

Interface	Purpose
`FingertipTactile.msg`	Timestamped fingertip force vectors, total force, temperature, and metadata digest
`JointDiagnostics.msg`	One joint’s `nid`, URDF name, electrical values, error code, and communication counters
`JointDiagnosticsArray.msg`	Timestamped list of joint diagnostic entries
`TrackedPose.msg`	Named tracked pose with confidence
`TrackedPoseArray.msg`	Timestamped tracked pose entries
`FingerJointAngles.msg`	Named finger joint angles with confidence
`HandJointAngles.msg`	Timestamped five-finger joint angles
`TactileGrid.msg`	Timestamped tactile grid data
`TactileZone.msg`	Named tactile zone values
`TactileZoneArray.msg`	Timestamped tactile zone entries

In FingertipTactile, point_forces and total_force use N. temperature uses degrees Celsius.

The Wuji Glove driver uses TrackedPose, TrackedPoseArray, FingerJointAngles, HandJointAngles, TactileGrid, TactileZone, and TactileZoneArray. HandJointAngles preserves each finger’s angle count and confidence instead of projecting the data into a lossy standard joint message.

Services

Interface	Request
`SetEnabled.srv`	`enabled` and a 20-entry joint mask
`ClearFaults.srv`	A 20-entry joint mask
`SetEffortLimit.srv`	One effort limit for every joint
`SetEffortLimits.srv`	20 effort limits in dense order
`SetMitParams.srv`	20 `kp` values and 20 `kd` values in dense order

Each response contains success and message. Fixed 20-entry arrays use the dense order documented in wuji_hand2_driver. These services don’t carry joint names and don’t accept partial arrays.

Inspect Interfaces

After building and sourcing the workspace:

ros2 interface show wuji_msgs/msg/HandJointAngles
ros2 interface show wuji_msgs/srv/SetEnabled

Contact

For any questions, please contact support@wuji.tech.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rosidl_default_generators
	rosidl_default_runtime
	ament_cmake_pytest
	ament_lint_auto
	ament_lint_common
	rosidl_runtime_py
	geometry_msgs
	std_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
wuji_bringup
wuji_glove_driver
wuji_hand2_driver

Launch files

No launch files found

Services

Plugins

No plugins found.

Recent questions tagged `wuji_msgs` at Robotics Stack Exchange

No version for distro rolling showing lyrical. Known supported distros are highlighted in the buttons above.

wuji_msgs package from wuji_ros2 repo

wuji_bringup wuji_glove_driver wuji_hand2_driver wuji_msgs wuji_sdk_vendor wuji_tools

ROS Distro
lyrical

Package Summary

Version	2026.10.26
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/wuji-technology/wuji-ros2.git
VCS Type	git
VCS Version	main
Last Updated	2026-10-24
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS 2 messages and services for Wuji devices.

Additional Links

Maintainers

Wuji Technology

Authors

No additional authors.

wuji_msgs

wuji_msgs defines the public ROS2 messages and services used by Wuji Hand 2 and Wuji Glove drivers.

Messages

Interface	Purpose
`FingertipTactile.msg`	Timestamped fingertip force vectors, total force, temperature, and metadata digest
`JointDiagnostics.msg`	One joint’s `nid`, URDF name, electrical values, error code, and communication counters
`JointDiagnosticsArray.msg`	Timestamped list of joint diagnostic entries
`TrackedPose.msg`	Named tracked pose with confidence
`TrackedPoseArray.msg`	Timestamped tracked pose entries
`FingerJointAngles.msg`	Named finger joint angles with confidence
`HandJointAngles.msg`	Timestamped five-finger joint angles
`TactileGrid.msg`	Timestamped tactile grid data
`TactileZone.msg`	Named tactile zone values
`TactileZoneArray.msg`	Timestamped tactile zone entries

In FingertipTactile, point_forces and total_force use N. temperature uses degrees Celsius.

The Wuji Glove driver uses TrackedPose, TrackedPoseArray, FingerJointAngles, HandJointAngles, TactileGrid, TactileZone, and TactileZoneArray. HandJointAngles preserves each finger’s angle count and confidence instead of projecting the data into a lossy standard joint message.

Services

Interface	Request
`SetEnabled.srv`	`enabled` and a 20-entry joint mask
`ClearFaults.srv`	A 20-entry joint mask
`SetEffortLimit.srv`	One effort limit for every joint
`SetEffortLimits.srv`	20 effort limits in dense order
`SetMitParams.srv`	20 `kp` values and 20 `kd` values in dense order

Each response contains success and message. Fixed 20-entry arrays use the dense order documented in wuji_hand2_driver. These services don’t carry joint names and don’t accept partial arrays.

Inspect Interfaces

After building and sourcing the workspace:

ros2 interface show wuji_msgs/msg/HandJointAngles
ros2 interface show wuji_msgs/srv/SetEnabled

Contact

For any questions, please contact support@wuji.tech.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rosidl_default_generators
	rosidl_default_runtime
	ament_cmake_pytest
	ament_lint_auto
	ament_lint_common
	rosidl_runtime_py
	geometry_msgs
	std_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
wuji_bringup
wuji_glove_driver
wuji_hand2_driver

Launch files

No launch files found

Services

Plugins

No plugins found.

Recent questions tagged `wuji_msgs` at Robotics Stack Exchange

No version for distro github showing lyrical. Known supported distros are highlighted in the buttons above.

wuji_msgs package from wuji_ros2 repo

wuji_bringup wuji_glove_driver wuji_hand2_driver wuji_msgs wuji_sdk_vendor wuji_tools

ROS Distro
lyrical

Package Summary

Version	2026.10.26
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/wuji-technology/wuji-ros2.git
VCS Type	git
VCS Version	main
Last Updated	2026-10-24
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS 2 messages and services for Wuji devices.

Additional Links

Maintainers

Wuji Technology

Authors

No additional authors.

wuji_msgs

wuji_msgs defines the public ROS2 messages and services used by Wuji Hand 2 and Wuji Glove drivers.

Messages

Interface	Purpose
`FingertipTactile.msg`	Timestamped fingertip force vectors, total force, temperature, and metadata digest
`JointDiagnostics.msg`	One joint’s `nid`, URDF name, electrical values, error code, and communication counters
`JointDiagnosticsArray.msg`	Timestamped list of joint diagnostic entries
`TrackedPose.msg`	Named tracked pose with confidence
`TrackedPoseArray.msg`	Timestamped tracked pose entries
`FingerJointAngles.msg`	Named finger joint angles with confidence
`HandJointAngles.msg`	Timestamped five-finger joint angles
`TactileGrid.msg`	Timestamped tactile grid data
`TactileZone.msg`	Named tactile zone values
`TactileZoneArray.msg`	Timestamped tactile zone entries

In FingertipTactile, point_forces and total_force use N. temperature uses degrees Celsius.

The Wuji Glove driver uses TrackedPose, TrackedPoseArray, FingerJointAngles, HandJointAngles, TactileGrid, TactileZone, and TactileZoneArray. HandJointAngles preserves each finger’s angle count and confidence instead of projecting the data into a lossy standard joint message.

Services

Interface	Request
`SetEnabled.srv`	`enabled` and a 20-entry joint mask
`ClearFaults.srv`	A 20-entry joint mask
`SetEffortLimit.srv`	One effort limit for every joint
`SetEffortLimits.srv`	20 effort limits in dense order
`SetMitParams.srv`	20 `kp` values and 20 `kd` values in dense order

Each response contains success and message. Fixed 20-entry arrays use the dense order documented in wuji_hand2_driver. These services don’t carry joint names and don’t accept partial arrays.

Inspect Interfaces

After building and sourcing the workspace:

ros2 interface show wuji_msgs/msg/HandJointAngles
ros2 interface show wuji_msgs/srv/SetEnabled

Contact

For any questions, please contact support@wuji.tech.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rosidl_default_generators
	rosidl_default_runtime
	ament_cmake_pytest
	ament_lint_auto
	ament_lint_common
	rosidl_runtime_py
	geometry_msgs
	std_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
wuji_bringup
wuji_glove_driver
wuji_hand2_driver

Launch files

No launch files found

Services

Plugins

No plugins found.

Recent questions tagged `wuji_msgs` at Robotics Stack Exchange

No version for distro galactic showing lyrical. Known supported distros are highlighted in the buttons above.

wuji_msgs package from wuji_ros2 repo

wuji_bringup wuji_glove_driver wuji_hand2_driver wuji_msgs wuji_sdk_vendor wuji_tools

ROS Distro
lyrical

Package Summary

Version	2026.10.26
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/wuji-technology/wuji-ros2.git
VCS Type	git
VCS Version	main
Last Updated	2026-10-24
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS 2 messages and services for Wuji devices.

Additional Links

Maintainers

Wuji Technology

Authors

No additional authors.

wuji_msgs

wuji_msgs defines the public ROS2 messages and services used by Wuji Hand 2 and Wuji Glove drivers.

Messages

Interface	Purpose
`FingertipTactile.msg`	Timestamped fingertip force vectors, total force, temperature, and metadata digest
`JointDiagnostics.msg`	One joint’s `nid`, URDF name, electrical values, error code, and communication counters
`JointDiagnosticsArray.msg`	Timestamped list of joint diagnostic entries
`TrackedPose.msg`	Named tracked pose with confidence
`TrackedPoseArray.msg`	Timestamped tracked pose entries
`FingerJointAngles.msg`	Named finger joint angles with confidence
`HandJointAngles.msg`	Timestamped five-finger joint angles
`TactileGrid.msg`	Timestamped tactile grid data
`TactileZone.msg`	Named tactile zone values
`TactileZoneArray.msg`	Timestamped tactile zone entries

In FingertipTactile, point_forces and total_force use N. temperature uses degrees Celsius.

The Wuji Glove driver uses TrackedPose, TrackedPoseArray, FingerJointAngles, HandJointAngles, TactileGrid, TactileZone, and TactileZoneArray. HandJointAngles preserves each finger’s angle count and confidence instead of projecting the data into a lossy standard joint message.

Services

Interface	Request
`SetEnabled.srv`	`enabled` and a 20-entry joint mask
`ClearFaults.srv`	A 20-entry joint mask
`SetEffortLimit.srv`	One effort limit for every joint
`SetEffortLimits.srv`	20 effort limits in dense order
`SetMitParams.srv`	20 `kp` values and 20 `kd` values in dense order

Each response contains success and message. Fixed 20-entry arrays use the dense order documented in wuji_hand2_driver. These services don’t carry joint names and don’t accept partial arrays.

Inspect Interfaces

After building and sourcing the workspace:

ros2 interface show wuji_msgs/msg/HandJointAngles
ros2 interface show wuji_msgs/srv/SetEnabled

Contact

For any questions, please contact support@wuji.tech.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rosidl_default_generators
	rosidl_default_runtime
	ament_cmake_pytest
	ament_lint_auto
	ament_lint_common
	rosidl_runtime_py
	geometry_msgs
	std_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
wuji_bringup
wuji_glove_driver
wuji_hand2_driver

Launch files

No launch files found

Services

Plugins

No plugins found.

Recent questions tagged `wuji_msgs` at Robotics Stack Exchange

No version for distro iron showing lyrical. Known supported distros are highlighted in the buttons above.

wuji_msgs package from wuji_ros2 repo

wuji_bringup wuji_glove_driver wuji_hand2_driver wuji_msgs wuji_sdk_vendor wuji_tools

ROS Distro
lyrical

Package Summary

Version	2026.10.26
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/wuji-technology/wuji-ros2.git
VCS Type	git
VCS Version	main
Last Updated	2026-10-24
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS 2 messages and services for Wuji devices.

Additional Links

Maintainers

Wuji Technology

Authors

No additional authors.

wuji_msgs

wuji_msgs defines the public ROS2 messages and services used by Wuji Hand 2 and Wuji Glove drivers.

Messages

Interface	Purpose
`FingertipTactile.msg`	Timestamped fingertip force vectors, total force, temperature, and metadata digest
`JointDiagnostics.msg`	One joint’s `nid`, URDF name, electrical values, error code, and communication counters
`JointDiagnosticsArray.msg`	Timestamped list of joint diagnostic entries
`TrackedPose.msg`	Named tracked pose with confidence
`TrackedPoseArray.msg`	Timestamped tracked pose entries
`FingerJointAngles.msg`	Named finger joint angles with confidence
`HandJointAngles.msg`	Timestamped five-finger joint angles
`TactileGrid.msg`	Timestamped tactile grid data
`TactileZone.msg`	Named tactile zone values
`TactileZoneArray.msg`	Timestamped tactile zone entries

In FingertipTactile, point_forces and total_force use N. temperature uses degrees Celsius.

The Wuji Glove driver uses TrackedPose, TrackedPoseArray, FingerJointAngles, HandJointAngles, TactileGrid, TactileZone, and TactileZoneArray. HandJointAngles preserves each finger’s angle count and confidence instead of projecting the data into a lossy standard joint message.

Services

Interface	Request
`SetEnabled.srv`	`enabled` and a 20-entry joint mask
`ClearFaults.srv`	A 20-entry joint mask
`SetEffortLimit.srv`	One effort limit for every joint
`SetEffortLimits.srv`	20 effort limits in dense order
`SetMitParams.srv`	20 `kp` values and 20 `kd` values in dense order

Each response contains success and message. Fixed 20-entry arrays use the dense order documented in wuji_hand2_driver. These services don’t carry joint names and don’t accept partial arrays.

Inspect Interfaces

After building and sourcing the workspace:

ros2 interface show wuji_msgs/msg/HandJointAngles
ros2 interface show wuji_msgs/srv/SetEnabled

Contact

For any questions, please contact support@wuji.tech.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rosidl_default_generators
	rosidl_default_runtime
	ament_cmake_pytest
	ament_lint_auto
	ament_lint_common
	rosidl_runtime_py
	geometry_msgs
	std_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
wuji_bringup
wuji_glove_driver
wuji_hand2_driver

Launch files

No launch files found

Services

Plugins

No plugins found.

Recent questions tagged `wuji_msgs` at Robotics Stack Exchange

No version for distro melodic showing lyrical. Known supported distros are highlighted in the buttons above.

wuji_msgs package from wuji_ros2 repo

wuji_bringup wuji_glove_driver wuji_hand2_driver wuji_msgs wuji_sdk_vendor wuji_tools

ROS Distro
lyrical

API Docs
Browse Code
Wiki

Package Summary

Version	2026.10.26
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/wuji-technology/wuji-ros2.git
VCS Type	git
VCS Version	main
Last Updated	2026-10-24
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS 2 messages and services for Wuji devices.

Additional Links

Maintainers

Wuji Technology

Authors

No additional authors.

wuji_msgs

wuji_msgs defines the public ROS2 messages and services used by Wuji Hand 2 and Wuji Glove drivers.

Messages

Interface	Purpose
`FingertipTactile.msg`	Timestamped fingertip force vectors, total force, temperature, and metadata digest
`JointDiagnostics.msg`	One joint’s `nid`, URDF name, electrical values, error code, and communication counters
`JointDiagnosticsArray.msg`	Timestamped list of joint diagnostic entries
`TrackedPose.msg`	Named tracked pose with confidence
`TrackedPoseArray.msg`	Timestamped tracked pose entries
`FingerJointAngles.msg`	Named finger joint angles with confidence
`HandJointAngles.msg`	Timestamped five-finger joint angles
`TactileGrid.msg`	Timestamped tactile grid data
`TactileZone.msg`	Named tactile zone values
`TactileZoneArray.msg`	Timestamped tactile zone entries

In FingertipTactile, point_forces and total_force use N. temperature uses degrees Celsius.

The Wuji Glove driver uses TrackedPose, TrackedPoseArray, FingerJointAngles, HandJointAngles, TactileGrid, TactileZone, and TactileZoneArray. HandJointAngles preserves each finger’s angle count and confidence instead of projecting the data into a lossy standard joint message.

Services

Interface	Request
`SetEnabled.srv`	`enabled` and a 20-entry joint mask
`ClearFaults.srv`	A 20-entry joint mask
`SetEffortLimit.srv`	One effort limit for every joint
`SetEffortLimits.srv`	20 effort limits in dense order
`SetMitParams.srv`	20 `kp` values and 20 `kd` values in dense order

Each response contains success and message. Fixed 20-entry arrays use the dense order documented in wuji_hand2_driver. These services don’t carry joint names and don’t accept partial arrays.

Inspect Interfaces

After building and sourcing the workspace:

ros2 interface show wuji_msgs/msg/HandJointAngles
ros2 interface show wuji_msgs/srv/SetEnabled

Contact

For any questions, please contact support@wuji.tech.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rosidl_default_generators
	rosidl_default_runtime
	ament_cmake_pytest
	ament_lint_auto
	ament_lint_common
	rosidl_runtime_py
	geometry_msgs
	std_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
wuji_bringup
wuji_glove_driver
wuji_hand2_driver

Launch files

No launch files found

Services

Plugins

No plugins found.

Recent questions tagged `wuji_msgs` at Robotics Stack Exchange

API Docs Browse Code Wiki

No version for distro noetic showing lyrical. Known supported distros are highlighted in the buttons above.

wuji_msgs package from wuji_ros2 repo

wuji_bringup wuji_glove_driver wuji_hand2_driver wuji_msgs wuji_sdk_vendor wuji_tools

ROS Distro
lyrical

API Docs
Browse Code
Wiki

Package Summary

Version	2026.10.26
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/wuji-technology/wuji-ros2.git
VCS Type	git
VCS Version	main
Last Updated	2026-10-24
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS 2 messages and services for Wuji devices.

Additional Links

Maintainers

Wuji Technology

Authors

No additional authors.