124 lines
3.7 KiB
Markdown
124 lines
3.7 KiB
Markdown
<div align="center">
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<h1 align="center">DFX Inspire Hand service</h1>
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<a href="https://www.unitree.com/" target="_blank">
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<img src="https://www.unitree.com/images/0079f8938336436e955ea3a98c4e1e59.svg" alt="Unitree LOGO" width="15%">
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</a>
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</div>
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# 1. 📦 Introduction
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[Unitree Robot RH56DFX Inspire Hand](https://support.unitree.com/home/en/H1_developer/Dexterous_hand) Controller.
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<div align="center">
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<img src="doc/img/RH56.png" width="300"/>
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</div>
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The user sends `unitree_go::msg::dds::MotorCmds_` messages to the `rt/inspire/cmd` topic to control the dexterous hand,
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and receives `unitree_go::msg::dds::MotorStates_` messages from the `rt/inspire/state` topic to obtain its status.
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```mermaid
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graph LR
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A(user) --rt/inspire/cmd--> B(H1 or G1)
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B --rt/inspire/state--> A
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```
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The IDL data is an array containing joint-level values for all 12 motors of both hands.
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Currently the dexterous hand only supports joint control, i.e. only the parameter `q` makes sense in the idl format. The others are reserved.
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<div style="text-align: center;">
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<table border="1">
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<tr>
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<td>Id</td>
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<td>0</td>
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<td>1</td>
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<td>2</td>
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<td>3</td>
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<td>4</td>
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<td>5</td>
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<td>6</td>
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<td>7</td>
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<td>8</td>
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<td>9</td>
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<td>10</td>
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<td>11</td>
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</tr>
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<tr>
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<td rowspan="2">Joint</td>
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<td colspan="6">Right Hand</td>
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<td colspan="6">Left Hand</td>
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</tr>
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<tr>
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<td>pinky</td>
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<td>ring</td>
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<td>middle</td>
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<td>index</td>
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<td>thumb-bend</td>
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<td>thumb-rotation</td>
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<td>pinky</td>
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<td>ring</td>
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<td>middle</td>
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<td>index</td>
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<td>thumb-bend</td>
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<td>thumb-rotation</td>
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</tr>
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</table>
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</div>
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# 2. 🚀 Launch
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## unitree h1
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```bash
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sudo apt install libboost-all-dev libspdlog-dev
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# Build project
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mkdir build & cd build
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cmake ..
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make -j6
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# Terminal 1. Run h1 inspire hand service
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sudo ./inspire_h1 -s /dev/ttyUSB0
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# Terminal 2. Run example
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./hand_example
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```
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## unitree g1
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```bash
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sudo apt install libboost-all-dev libspdlog-dev
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# Build project
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mkdir build & cd build
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cmake ..
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make -j6
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# Terminal 1. Run g1 inspire hand service
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# The serial port name is hard-coded; if it doesn’t match your setup, please edit it directly in the source.
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sudo ./inspire_g1
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# Terminal 2. Run example
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./hand_example
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```
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# FAQ
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1. Error when `make -j6`
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```bash
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...
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/usr/bin/ld: inspire_ctrl.cpp:(.text._Z14serialize_intoIN10unitree_go3msg4dds_12MotorStates_EN3org7eclipse10cyclonedds4core3cdr14xcdr_v2_streamEEbPvmRKT_b[_Z14serialize_intoIN10unitree_go3msg4dds_12MotorStates_EN3org7eclipse10cyclonedds4core3cdr14xcdr_v2_streamEEbPvmRKT_b]+0x2be): undefined reference to `org::eclipse::cyclonedds::core::cdr::xcdr_v2_stream::finish_member(org::eclipse::cyclonedds::core::cdr::entity_properties&, bool)'
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/usr/bin/ld: inspire_ctrl.cpp:(.text._Z14serialize_intoIN10unitree_go3msg4dds_12MotorStates_EN3org7eclipse10cyclonedds4core3cdr14xcdr_v2_streamEEbPvmRKT_b[_Z14serialize_intoIN10unitree_go3msg4dds_12MotorStates_EN3org7eclipse10cyclonedds4core3cdr14xcdr_v2_streamEEbPvmRKT_b]+0x2d9): undefined reference to `org::eclipse::cyclonedds::core::cdr::xcdr_v2_stream::finish_struct(org::eclipse::cyclonedds::core::cdr::entity_properties&)'
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```
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please compile and install `unitree_sdk2`:
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```bash
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cd ~
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git clone https://github.com/unitreerobotics/unitree_sdk2
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cd unitree_sdk2
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mkdir build & cd build
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cmake ..
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sudo make install
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```
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2. Error when run `sudo ./inspire_h1 -s /dev/ttyUSB0` or `sudo ./inspire_g1`
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```bash
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--- Unitree Robotics ---
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Inspire Hand Controller
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Open serial port /dev/ttyUSB* failed
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```
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For **Unitree h1**, use the `-s` parameter to change the serial port name.
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For **Unitree g1**, modify the serial port name directly in the source code.
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