LinkerHand灵巧手ROS SDK 是灵心巧手(北京)科技有限公司开发，用于O6、L6、L7、O7、L10、L20、G20、L21等LinkerHand灵巧手的驱动软件和功能示例源码。可用于真机与仿真器使用。 LinkerHandROS2 SDK当前支持Ubuntu22.04 ROS humble Python3.10 及以上环境

Name	Version	Link
Python SDK
ROS SDK
ROS2 SDK

  确保当前系统环境为Ubuntu20.04 ROS 2 Foxy Python3.8.20 及以上

• 下载

  $ mkdir -p linker_hand_ros2_sdk/src
  $ cd linker_hand_ros2_sdk/src
  $ git clone https://github.com/linker-bot/linkerhand-ros2-sdk.git

• 编译

  $ sudo apt install python3-can
  $ cd linker_hand_ros2_sdk/src/
  $ pip install -r requirements.txt

   使用前请先将 setting.yaml 配置文件根据实际需求进行相应修改该.

• 修改setting.yaml配置文件的密码，默认PASSWORD："12345678" 默认密码为Ubuntu系统的密码，用户sdk自动开启CAN端口

   使用前请先将单手linker_hand.launch.py or 双手linker_hand_double.launch.py文件按照实际灵巧手参数进行配置.

• 启动SDK单手    将linker_hand灵巧手的USB转CAN设备插入Ubuntu设备上 支持型号:O6/L6/L7/L10/L20/G20/L21/L25
• 启动SDK双手    先将左手linker_hand灵巧手的USB转CAN设备插入Ubuntu设备上，一般被识别为can0。再将右手linker_hand灵巧手的USB转CAN设备插入Ubuntu设备上，一般识别为can1. 支持型号:O6/L6/L7/L10/L20/G20/L21/L25

  # 开启CAN端口
  $ sudo /usr/sbin/ip link set can0 up type can bitrate 1000000 #USB转CAN设备蓝色灯常亮状态
  $ cd linker_hand_ros2_sdk/
  $ colcon build --symlink-install
  $ source ./install/setup.bash
  $ sudo chmod a+x src/linker_hand_ros2_sdk/linker_hand_ros2_sdk/linker_hand_ros2_sdk/linker_hand.py
  $ # 单手
  $ ros2 launch linker_hand_ros2_sdk linker_hand.launch.py
  $ # 双手
  $ ros2 launch linker_hand_ros2_sdk linker_hand_double.launch.py
  $ [linker_hand_sdk-1] 2025-06-24 17:21:14  Current SDK version: 2.1.4
  $ [linker_hand_sdk-1] 2025-06-24 17:21:14  left L10 set speed to [200, 250, 250, 250, 250, 250, 250, 250, 250, 250]
  $ [linker_hand_sdk-1] 2025-06-24 17:21:14  left L10 set maximum torque to [200, 200, 200, 200, 200]

   使用前请先将 linker_hand.launch.py文件按照实际灵巧手参数进行配置.

• 启动SDK    将linker_hand灵巧手的USB转CAN设备插入WIN系统设备上 支持型号:L7/L10/L20/L21/L25
• 注：安装好USB转CAN驱动后才可使用

  $ mkdir -p linker_hand_ros2_sdk/src
  $ cd linker_hand_ros2_sdk/src
  $ git clone https://github.com/linker-bot/linkerhand-ros2-sdk.git
  $ cd linker_hand_ros2_sdk/
  $ set PYTHONUTF8=1 # 设置环境变量为UTF-8编码
  $ colcon build --symlink-install
  $ call ./install/local_setup.bat
  $ ros2 launch linker_hand_ros2_sdk linker_hand.launch.py #先修改launch配置文件的CAN端口名称
  $ [linker_hand_sdk-1] 2025-06-24 17:21:14  Current SDK version: 2.1.4
  $ [linker_hand_sdk-1] 2025-06-24 17:21:14  left L10 set speed to [200, 250, 250, 250, 250, 250, 250, 250, 250, 250]
  $ [linker_hand_sdk-1] 2025-06-24 17:21:14  left L10 set maximum torque to [200, 200, 200, 200, 200]

编辑config/setting.yaml配置文件，按照配置文件内注释说明进行参数修改,将MODBUS:"/dev/ttyUSB0"，并且linker_hand.launch.py配置文件中"modbus"参数为"/dev/ttyUSB0"。USB-RS485转换器在Ubuntu上一般显示为/dev/ttyUSB* or /dev/ttyACM* modbus: "None" or "/dev/ttyUSB0"

# 确保requirements.txt安装依赖
# 安装系统级相关驱动
$ pip install minimalmodbus --break-system-packages
$ pip install pyserial --break-system-packages
$ pip install pymodbus==3.5.1 --break-system-packages
# 查看USB-RS485端口号
$ ls /dev
# 可以看到类似ttyUSB0端口后给端口执行权限
$ sudo chmod 777 /dev/ttyUSB0

• position与手指关节对照表

$ ros2 topic echo /cb_left_hand_control_cmd --flow-style

  header: 
    seq: 256
    stamp: 
      secs: 1744343699
      nsecs: 232647418
    frame_id: ''
  name: []
  position: [155.0, 162.0, 176.0, 125.0, 255.0, 255.0, 180.0, 179.0, 181.0, 68.0]
  velocity: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
  effort: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

• state与手指关节对照表

$ ros2 topic echo /cb_left_hand_state --flow-style
---
header:
  stamp:
    sec: 1760593389
    nanosec: 128827739
  frame_id: ''
name: []
position: [200.0, 255.0, 254.0, 254.0, 254.0, 180.0]
velocity: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
effort: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---

O6: ["大拇指弯曲", "大拇指横摆","食指弯曲", "中指弯曲", "无名指弯曲","小拇指弯曲"]

L6: ["大拇指弯曲", "大拇指横摆","食指弯曲", "中指弯曲", "无名指弯曲","小拇指弯曲"]

L7: ["大拇指弯曲", "大拇指横摆","食指弯曲", "中指弯曲", "无名指弯曲","小拇指弯曲","拇指旋转"]

L10: ["拇指根部", "拇指侧摆","食指根部", "中指根部", "无名指根部","小指根部","食指侧摆","无名指侧摆","小指侧摆","拇指旋转"]

L20: ["拇指根部", "食指根部", "中指根部", "无名指根部","小指根部","拇指侧摆","食指侧摆","中指侧摆","无名指侧摆","小指侧摆","拇指横摆","预留","预留","预留","预留","拇指尖部","食指末端","中指末端","无名指末端","小指末端"]

G20(工业版): ["拇指根部", "食指根部", "中指根部", "无名指根部","小指根部","拇指侧摆","食指侧摆","中指侧摆","无名指侧摆","小指侧摆","拇指横摆","预留","预留","预留","预留","拇指尖部","食指末端","中指末端","无名指末端","小指末端"]

L21: ["大拇指根部","食指根部","中指根部","无名指根部","小拇指根部","大拇指侧摆","食指侧摆","中指侧摆","无名指侧摆","小拇指侧摆","大拇指横滚","预留","预留","预留","预留","大拇指中部","预留","预留","预留","预留","大拇指指尖","食指指尖","中指指尖","无名指指尖","小拇指指尖"]

L25: ["大拇指根部", "食指根部", "中指根部","无名指根部","小拇指根部","大拇指侧摆","食指侧摆","中指侧摆","无名指侧摆","小拇指侧摆","大拇指横滚","预留","预留","预留","预留","大拇指中部","食指中部","中指中部","无名指中部","小拇指中部","大拇指指尖","食指指尖","中指指尖","无名指指尖","小拇指指尖"]

• release_3.0.1

• 1、支持O6/L6/L10 RS485通讯 pymodbus模式

• 2、重构ROS2逻辑层，提升CAN通讯效率

• release_2.2.4

• 1、新增G20工业版灵巧手CAN通讯支持

• release_2.2.3

• 1、gui图形控制新增速度、扭矩实时控制

• release_2.2.1

• 1、新增矩阵式压力传感器点阵热力示意图

• 2、新增O6 RS485通讯

• release_2.1.9

• 1、支持O6/L6版本灵巧手

• release_2.1.8

• 1、修复偶发撞帧问题

• ...................

   使用前请先将 setting.yaml 配置文件根据实际需求进行相应修改该.

• gui_control(图形界面控制与动作示例) 图形界面控制可以通过滑动块控制LinkerHand灵巧手L10、L20各个关节独立运动。也可以通过添加按钮记录当前所有滑动块的数值，保存LinkerHand灵巧手当前各个关节运动状态。通过功能性按钮进行动作复现。

使用gui_control控制LinkerHand灵巧手: gui_control界面控制灵巧手需要启动linker_hand_sdk_ros，以topic的形式对LinkerHand灵巧手进行操作 开启ROS2 SDK后

   使用前请先将 gui_control.launch.py文件按照实际灵巧手参数进行配置.

# 新开终端
$ cd linker_hand_ros2_sdk/
$ source ./install/setup.bash
$ ros2 launch gui_control gui_control.launch.py

开启后会弹出UI界面。通过滑动条可控制相应LinkerHand灵巧手关节运动

• 增加或修改动作示例。在constants.py文件中可增加或修改动作。

# 例如增加L6的动作序列
"L6": HandConfig(
        joint_names_en=["thumb_cmc_pitch", "thumb_cmc_yaw", "index_mcp_pitch", "middle_mcp_pitch", "pinky_mcp_pitch", "ring_mcp_pitch"],
        joint_names=["大拇指弯曲", "大拇指横摆", "食指弯曲", "中指弯曲", "无名指弯曲", "小拇指弯曲"],
        init_pos=[250] * 6,
        preset_actions={
            "张开": [250, 250, 250, 250, 250, 250],
            "壹": [0, 31, 255, 0, 0, 0],
            "贰": [0, 31, 255, 255, 0, 0],
            "叁": [0, 30, 255, 255, 255, 0], 
            "肆": [0, 30, 255, 255, 255, 255],
            "伍": [250, 250, 250, 250, 250, 250],
            "OK": [54, 41, 164, 250, 250, 250],
            "点赞": [255, 31, 0, 0, 0, 0],
            "握拳": [49, 61, 0, 0, 0, 0],
            # 增加自定义动作......
        }
    )

矩阵式压感热力示意图可以通过显示LinkerHand灵巧手各个关节的指尖矩阵压力传感器数据，并以热力图的形式展示。确认灵巧手配备矩阵式压力传感器后才可使用。 开启ROS2 SDK后    使用前请先将 matrix_touch_gui.launch.py文件按照实际灵巧手参数进行配置.

# 新开终端
$ cd linker_hand_ros2_sdk/
$ source ./install/setup.bash
$ ros2 launch matrix_touch_gui matrix_touch_gui.launch.py

   使用前请先将 gui_control.launch.py文件按照实际灵巧手参数进行配置.

# 新开终端
$ cd linker_hand_ros2_sdk/
$ call ./install/setup.bash
$ ros2 launch gui_control gui_control.launch.py

• 7001-action-group-show-ti(手指运动)

• 10001-action-group-show-normal(手指运动)

Linker Hand Topic Document

• Mujoco和PyBullet仓库