From 14fa685f7f1a71cfd70986dd89b3f82cbbc98c6a Mon Sep 17 00:00:00 2001
From: weipengzhe <3389096668@qq.com>
Date: Sun, 20 Sep 2026 10:10:17 +0800
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---
 README.md | 34 ++++++++++++++++++++++++++++++++++
 1 file changed, 34 insertions(+)

diff --git a/README.md b/README.md
index bc57e13..a930af5 100644
--- a/README.md
+++ b/README.md
@@ -523,3 +523,37 @@ src/linker_hand_ros2_sdk/linker_hand_ros2_sdk/linker_hand.py
 src/linker_hand_ros2_sdk/launch/linker_hand_double.launch.py
 scripts/linker_hand_control.sh
 ```
+
+## 左右灵巧手 CAN 口对调
+
+如果后续需要再次颠倒左右灵巧手的 CAN 口，只需要修改：
+
+```text
+src/linker_hand_ros2_sdk/launch/linker_hand_double.launch.py
+```
+
+当前默认配置为：
+
+```python
+左手：'hand_type': 'left',  'can': 'can1'
+右手：'hand_type': 'right', 'can': 'can0'
+```
+
+如果要左右 CAN 口对调，改成：
+
+```python
+左手：'hand_type': 'left',  'can': 'can0'
+右手：'hand_type': 'right', 'can': 'can1'
+```
+
+修改后重新编译并重启服务：
+
+```bash
+cd ~/workspace/weipz-Lbot_Bridge
+colcon build --packages-select linker_hand_ros2_sdk
+source install/setup.bash
+./scripts/linker_hand_control.sh stop
+./scripts/linker_hand_control.sh start
+```
+
+注意：只改 `can` 字段，不要交换 `hand_type`。`hand_type` 决定 ROS 话题名和左右手设备 ID，交换它会导致 `/l20_left_*` 和 `/l20_right_*` 语义反掉。