wuji-ros2

Wuji ROS2 packages connect Wuji Hand 2 and Wuji Glove to the ROS graph. The repository provides source-built drivers, public interfaces, launch integration, device listing, and a vendor package that fetches the Wuji SDK C library. The wrapper keeps device-specific behavior small and uses standard ROS messages where practical.

Supported Environment

Repository Structure

├── .github/workflows/              // CI and release workflows
├── driver_common/                  // Shared internal driver infrastructure
├── scripts/                        // Description installer and hardware test entry points
├── test/                           // Repository documentation and hardware-gate tests
├── wuji_bringup/                   // Launch files, RViz config, and Demos
├── wuji_glove_driver/              // Wuji Glove ROS2 driver
├── wuji_hand2_driver/              // Wuji Hand 2 ROS2 driver
├── wuji_msgs/                      // Wuji ROS messages and services
├── wuji_sdk_vendor/                // Wuji SDK C vendor package
├── wuji_tools/                     // Device command-line tools
├── .clang-format                   // C++ formatting rules
└── README.md

Quick Start

Installation

Clone the repository, install the ROS dependencies, and build the production packages. Run sudo rosdep init once if rosdep has never been set up on this machine:

git clone https://github.com/wuji-technology/wuji-ros2.git
cd wuji-ros2

source /opt/ros/lyrical/setup.bash
sudo apt-get update
sudo apt-get install -y ros-dev-tools
rosdep update
scripts/install_hand2_descriptions.sh
rosdep install --from-paths . --ignore-src -r -y

colcon build --cmake-args -DBUILD_TESTING=OFF
source install/setup.bash

scripts/install_hand2_descriptions.sh installs the Wuji Hand 2 description packages from the ROS 2 testing apt repository until they are available in the main ROS 2 apt repository. The script adds the testing repository only for these two packages and removes it before it exits, so other ROS packages on the machine still come from the main repository.

The build downloads and verifies the Wuji SDK archive for the active architecture. For an offline build, extract a matching Wuji SDK C release and add -DWUJI_SDK_ROOT=<sdk-root> to the CMake arguments.

List Devices

List reachable devices before choosing a selector:

ros2 run wuji_tools wuji_list

Use the reported serial number to select one device explicitly.

Start the Driver

Start one Wuji Hand 2 driver node:

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

For a URDF, robot state publisher, and optional RViz view, use the bringup launch files instead:

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

Start one Wuji Glove driver with its data-only launch:

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

When only one Wuji Glove is reachable, all selectors can remain empty. See the wuji_glove_driver guide for its 10 published topics and selection rules.

Demos and Safety

With the view launch running, check the required raw topics and print received-data statistics:

```bash

File truncated at 100 lines see the full file

Contributing to wuji-ros2

Thank you for contributing to the Wuji ROS2 wrapper.

Before You Start

The repository contains six ROS2 packages:

• wuji_bringup
• wuji_hand2_driver
• wuji_glove_driver
• wuji_msgs
• wuji_sdk_vendor
• wuji_tools

Keep source, tests, and user documentation within this repository root. Review Installation before changing package dependencies or build configuration.

Contribution Requirements

• Keep changes self-contained, and don’t reference files outside this repository.
• Use C++17 and follow .clang-format.
• Add or update focused tests for behavior changes.
• Run the verification commands below before opening a pull request.
• Don’t run hardware tests without the opt-ins and safety setup in the Wuji Hand 2 and Wuji Glove hardware test guides.

Verify Changes

After completing the source-build setup in README.md, run:

source /opt/ros/lyrical/setup.bash
sudo apt-get update
sudo apt-get install -y ros-dev-tools
rosdep update
scripts/install_hand2_descriptions.sh
rosdep install --from-paths . --ignore-src -r -y
python3 -m pytest -q test
colcon build --cmake-args -DBUILD_TESTING=ON
source install/setup.bash
colcon test
colcon test-result --verbose

Reporting Issues

Open an issue with the expected behavior, actual behavior, environment details, and reproduction steps.