加入本机订阅话题的隔离机制,修改话题名字避免被内网透传消息引发冲突

scripts/linker_hand_control.sh

@@ -10,6 +10,11 @@ LOG_FILE="${WS_DIR}/log/linker_hand_control.log"
 CAN_INTERFACES=(can0 can1)
 CAN_BITRATE=1000000
 
+# Keep this driver isolated from ROS 2 nodes on other machines in the same LAN.
+# Without this, DDS discovery can pick up stale linker_hand_sdk nodes from the
+# subnet and make the same topic appear to have multiple publishers.
+export ROS_AUTOMATIC_DISCOVERY_RANGE=LOCALHOST
+
 usage() {
   echo "Usage: $0 {start|stop|status}"
 }
@@ -45,6 +50,11 @@ source_workspace() {
   set -u
 }
 
+restart_ros_daemon_localhost() {
+  ros2 daemon stop >/dev/null 2>&1 || true
+  ros2 daemon start >/dev/null 2>&1 || true
+}
+
 start_can() {
   for can_if in "${CAN_INTERFACES[@]}"; do
     if ! ip link show "${can_if}" >/dev/null 2>&1; then
@@ -77,13 +87,14 @@ start_driver() {
   fi
 
   source_workspace
+  restart_ros_daemon_localhost
   start_can
 
   echo "Starting linker_hand service..."
   echo "Log: ${LOG_FILE}"
 
   : > "${LOG_FILE}"
-  setsid bash -lc "set +u; source '${WS_DIR}/install/setup.bash'; set -u; exec ros2 launch linker_hand_ros2_sdk linker_hand_double.launch.py" \
+  setsid bash -lc "export ROS_AUTOMATIC_DISCOVERY_RANGE=LOCALHOST; set +u; source '${WS_DIR}/install/setup.bash'; set -u; exec ros2 launch linker_hand_ros2_sdk linker_hand_double.launch.py" \
     >> "${LOG_FILE}" 2>&1 &
 
   local pid=$!
@@ -151,6 +162,8 @@ status_driver() {
     echo "linker_hand service is not running"
   fi
 
+  echo "ROS_AUTOMATIC_DISCOVERY_RANGE=${ROS_AUTOMATIC_DISCOVERY_RANGE}"
+
   for can_if in "${CAN_INTERFACES[@]}"; do
     if ip link show "${can_if}" >/dev/null 2>&1; then
       ip -details link show "${can_if}" | sed -n '1,2p'

src/linker_hand_ros2_sdk/linker_hand_ros2_sdk/linker_hand.py

@@ -151,7 +151,7 @@ class LinkerHand(Node):
         self.hz = 1.0/60.0
 
         self.hand_setting_sub = self.create_subscription(
-            String, self.topic('/cb_hand_setting_cmd'), self.hand_setting_cb, 10
+            String, self.topic('/l20_hand_setting_cmd'), self.hand_setting_cb, 10
         )
         self._init_hand()
         time.sleep(1)
@@ -181,31 +181,31 @@ class LinkerHand(Node):
         self.touch_type = self.api.get_touch_type()
         self.hand_cmd_sub = self.create_subscription(
             JointState,
-            self.topic(f'/cb_{self.hand_type}_hand_control_cmd'),
+            self.topic(f'/l20_{self.hand_type}_hand_control_cmd'),
             self.hand_control_cb,
             COMMAND_QOS,
         )
-        self.hand_state_pub = self.create_publisher(JointState, self.topic(f'/cb_{self.hand_type}_hand_state'),10)
-        self.hand_info_pub = self.create_publisher(String, self.topic(f'/cb_{self.hand_type}_hand_info'), 10)
+        self.hand_state_pub = self.create_publisher(JointState, self.topic(f'/l20_{self.hand_type}_hand_state'),10)
+        self.hand_info_pub = self.create_publisher(String, self.topic(f'/l20_{self.hand_type}_hand_info'), 10)
         if self.is_touch == True:
             if self.modbus != "None":
-                self.matrix_touch_pub = self.create_publisher(String, self.topic(f'/cb_{self.hand_type}_hand_matrix_touch'), 10)
-                self.matrix_touch_pub_pc = self.create_publisher(PointCloud2, self.topic(f'/cb_{self.hand_type}_hand_matrix_touch_pc'), 10)
-                self.matrix_touch_mass_pub = self.create_publisher(String, self.topic(f'/cb_{self.hand_type}_hand_matrix_touch_mass'), 10)
+                self.matrix_touch_pub = self.create_publisher(String, self.topic(f'/l20_{self.hand_type}_hand_matrix_touch'), 10)
+                self.matrix_touch_pub_pc = self.create_publisher(PointCloud2, self.topic(f'/l20_{self.hand_type}_hand_matrix_touch_pc'), 10)
+                self.matrix_touch_mass_pub = self.create_publisher(Float32MultiArray, self.topic(f'/l20_{self.hand_type}_hand_matrix_touch_mass'), 10)
             elif self.hand_joint == "L20":
                 ColorMsg(msg=f"{self.hand_type} {self.hand_joint} matrix pressure sensing enabled", color='green')
                 self.touch_type = 2
-                self.matrix_touch_pub = self.create_publisher(String, self.topic(f'/cb_{self.hand_type}_hand_matrix_touch'), 10)
-                self.matrix_touch_pub_pc = self.create_publisher(PointCloud2, self.topic(f'/cb_{self.hand_type}_hand_matrix_touch_pc'), 10)
-                self.matrix_touch_mass_pub = self.create_publisher(String, self.topic(f'/cb_{self.hand_type}_hand_matrix_touch_mass'), 10)
+                self.matrix_touch_pub = self.create_publisher(String, self.topic(f'/l20_{self.hand_type}_hand_matrix_touch'), 10)
+                self.matrix_touch_pub_pc = self.create_publisher(PointCloud2, self.topic(f'/l20_{self.hand_type}_hand_matrix_touch_pc'), 10)
+                self.matrix_touch_mass_pub = self.create_publisher(Float32MultiArray, self.topic(f'/l20_{self.hand_type}_hand_matrix_touch_mass'), 10)
             elif self.touch_type > 1:
                 ColorMsg(msg=f"{self.hand_type} {self.hand_joint} Equipped with matrix pressure sensing", color='green')
-                self.matrix_touch_pub = self.create_publisher(String, self.topic(f'/cb_{self.hand_type}_hand_matrix_touch'), 10)
-                self.matrix_touch_pub_pc = self.create_publisher(PointCloud2, self.topic(f'/cb_{self.hand_type}_hand_matrix_touch_pc'), 10)
-                self.matrix_touch_mass_pub = self.create_publisher(String, self.topic(f'/cb_{self.hand_type}_hand_matrix_touch_mass'), 10)
+                self.matrix_touch_pub = self.create_publisher(String, self.topic(f'/l20_{self.hand_type}_hand_matrix_touch'), 10)
+                self.matrix_touch_pub_pc = self.create_publisher(PointCloud2, self.topic(f'/l20_{self.hand_type}_hand_matrix_touch_pc'), 10)
+                self.matrix_touch_mass_pub = self.create_publisher(Float32MultiArray, self.topic(f'/l20_{self.hand_type}_hand_matrix_touch_mass'), 10)
             elif self.touch_type != -1 and self.modbus == "None":
                 ColorMsg(msg=f"{self.hand_type} {self.hand_joint} Equipped with pressure sensor", color="green")
-                self.touch_pub = self.create_publisher(Float32MultiArray, self.topic(f'/cb_{self.hand_type}_hand_force'), 10)
+                self.touch_pub = self.create_publisher(Float32MultiArray, self.topic(f'/l20_{self.hand_type}_hand_force'), 10)
             else:
                 ColorMsg(msg=f"{self.hand_type} {self.hand_joint} Not equipped with any pressure sensors", color="red")
                 self.is_touch = False
@@ -410,7 +410,7 @@ class LinkerHand(Node):
             if self.is_touch == True and (self.touch_type > 1 or self.modbus != "None") and (self.matrix_touch_pub.get_subscription_count() > 0 or self.matrix_touch_mass_pub.get_subscription_count() > 0 or self.matrix_touch_pub_pc.get_subscription_count() > 0):
                 # 发布矩阵压感数据JSON格式
                 self.pub_matrix_dic()
-                # 发布矩阵压感和值JSON格式
+                # 发布矩阵压感合值浮点数组
                 self.pub_matrix_mass(dic=self.matrix_dic)
                 # 发布矩阵压感点云格式
                 self.pub_matrix_point_cloud()
@@ -421,22 +421,15 @@ class LinkerHand(Node):
             time.sleep(self.hz)
 
     def pub_matrix_mass(self, dic):
-        """发布矩阵数据合值 单位g 克 JSON格式"""
-        msg = String()
-        # 获取当前的 ROS 时间
-        current_time = self.stamp_clock.now()
-        # 提取 secs 和 nsecs
-        t_secs = current_time.to_msg().sec
-        t_nsecs = current_time.to_msg().nanosec
-        self.matrix_mass_dic["stamp"]["secs"] = t_secs
-        self.matrix_mass_dic["stamp"]["nsecs"] = t_nsecs
-        self.matrix_mass_dic["unit"] = "g"
-        self.matrix_mass_dic["thumb_mass"] = sum(sum(row) for row in dic["thumb_matrix"])
-        self.matrix_mass_dic["index_mass"] = sum(sum(row) for row in dic["index_matrix"])
-        self.matrix_mass_dic["middle_mass"] = sum(sum(row) for row in dic["middle_matrix"])
-        self.matrix_mass_dic["ring_mass"] = sum(sum(row) for row in dic["ring_matrix"])
-        self.matrix_mass_dic["little_mass"] = sum(sum(row) for row in dic["little_matrix"])
-        msg.data = json.dumps(self.matrix_mass_dic)
+        """发布矩阵数据合值，顺序为 thumb, index, middle, ring, little，单位 g。"""
+        msg = Float32MultiArray()
+        msg.data = [
+            float(sum(sum(row) for row in dic["thumb_matrix"])),
+            float(sum(sum(row) for row in dic["index_matrix"])),
+            float(sum(sum(row) for row in dic["middle_matrix"])),
+            float(sum(sum(row) for row in dic["ring_matrix"])),
+            float(sum(sum(row) for row in dic["little_matrix"])),
+        ]
         self.matrix_touch_mass_pub.publish(msg)
 
     def pub_matrix_point_cloud(self):

src/linker_hand_ros2_sdk/linker_hand_ros2_sdk/linker_hand_advanced_g20.py

@@ -87,17 +87,17 @@ class LinkerHandAdvancedG20(Node):
         self.api = LinkerHandApi(hand_type=self.hand_type, hand_joint=self.hand_joint,modbus=self.modbus,can=self.can)
         time.sleep(0.1)
         self.touch_type = self.api.get_touch_type()
-        self.hand_cmd_sub = self.create_subscription(JointState, f'/cb_{self.hand_type}_hand_control_cmd', self.hand_control_cb,10)
-        self.hand_state_pub = self.create_publisher(JointState, f'/cb_{self.hand_type}_hand_state',10)
+        self.hand_cmd_sub = self.create_subscription(JointState, f'/l20_{self.hand_type}_hand_control_cmd', self.hand_control_cb,10)
+        self.hand_state_pub = self.create_publisher(JointState, f'/l20_{self.hand_type}_hand_state',10)
         if self.is_touch == True:
             if self.touch_type > 1:
                 ColorMsg(msg=f"{self.hand_type} {self.hand_joint} Equipped with matrix pressure sensing", color='green')
-                self.matrix_touch_pub = self.create_publisher(String, f'/cb_{self.hand_type}_hand_matrix_touch', 10)
-                self.matrix_touch_pub_pc = self.create_publisher(PointCloud2, f'/cb_{self.hand_type}_hand_matrix_touch_pc', 10)
-                self.matrix_touch_mass_pub = self.create_publisher(String, f'/cb_{self.hand_type}_hand_matrix_touch_mass', 10)
+                self.matrix_touch_pub = self.create_publisher(String, f'/l20_{self.hand_type}_hand_matrix_touch', 10)
+                self.matrix_touch_pub_pc = self.create_publisher(PointCloud2, f'/l20_{self.hand_type}_hand_matrix_touch_pc', 10)
+                self.matrix_touch_mass_pub = self.create_publisher(Float32MultiArray, f'/l20_{self.hand_type}_hand_matrix_touch_mass', 10)
             elif self.touch_type != -1:
                 ColorMsg(msg=f"{self.hand_type} {self.hand_joint} Equipped with pressure sensor", color="green")
-                self.touch_pub = self.create_publisher(Float32MultiArray, f'/cb_{self.hand_type}_hand_force', 10)
+                self.touch_pub = self.create_publisher(Float32MultiArray, f'/l20_{self.hand_type}_hand_force', 10)
             else:
                 ColorMsg(msg=f"{self.hand_type} {self.hand_joint} Not equipped with any pressure sensors", color="red")
                 self.is_touch = False
@@ -163,7 +163,7 @@ class LinkerHandAdvancedG20(Node):
                 self.matrix_dic["little_matrix"] = self.api.get_little_matrix_touch(sleep_time=TOUCH_SLEEP_TIME).tolist()
             # 发布矩阵压感数据JSON格式
             self.pub_matrix_dic()
-            # 发布矩阵压感和值JSON格式
+            # 发布矩阵压感合值浮点数组
             self.pub_matrix_mass(dic=self.matrix_dic)
             # 发布矩阵压感点云格式
             self.pub_matrix_point_cloud()
@@ -185,22 +185,15 @@ class LinkerHandAdvancedG20(Node):
         self.matrix_touch_pub.publish(msg)
 
     def pub_matrix_mass(self, dic):
-        """发布矩阵数据合值 单位g 克 JSON格式"""
-        msg = String()
-        # 获取当前的 ROS 时间
-        current_time = self.stamp_clock.now()
-        # 提取 secs 和 nsecs
-        t_secs = current_time.to_msg().sec
-        t_nsecs = current_time.to_msg().nanosec
-        self.matrix_mass_dic["stamp"]["secs"] = t_secs
-        self.matrix_mass_dic["stamp"]["nsecs"] = t_nsecs
-        self.matrix_mass_dic["unit"] = "g"
-        self.matrix_mass_dic["thumb_mass"] = sum(sum(row) for row in dic["thumb_matrix"])
-        self.matrix_mass_dic["index_mass"] = sum(sum(row) for row in dic["index_matrix"])
-        self.matrix_mass_dic["middle_mass"] = sum(sum(row) for row in dic["middle_matrix"])
-        self.matrix_mass_dic["ring_mass"] = sum(sum(row) for row in dic["ring_matrix"])
-        self.matrix_mass_dic["little_mass"] = sum(sum(row) for row in dic["little_matrix"])
-        msg.data = json.dumps(self.matrix_mass_dic)
+        """发布矩阵数据合值，顺序为 thumb, index, middle, ring, little，单位 g。"""
+        msg = Float32MultiArray()
+        msg.data = [
+            float(sum(sum(row) for row in dic["thumb_matrix"])),
+            float(sum(sum(row) for row in dic["index_matrix"])),
+            float(sum(sum(row) for row in dic["middle_matrix"])),
+            float(sum(sum(row) for row in dic["ring_matrix"])),
+            float(sum(sum(row) for row in dic["little_matrix"])),
+        ]
         self.matrix_touch_mass_pub.publish(msg)
 
     def pub_matrix_point_cloud(self):
@@ -232,9 +225,9 @@ class LinkerHandAdvancedG20(Node):
 def main(args=None):
     '''
     本节点用于收集手指状态和压感数据。
-    '/cb_{self.hand_type}_hand_control_cmd' 话题类型为 sensor_msgs/msg/JointState 控制话题，限制 30Hz
-    /cb_{self.hand_type}_hand_state 话题类型为 sensor_msgs/msg/JointState 30Hz
-    '/cb_{self.hand_type}_hand_matrix_touch' 话题类型为 std_msgs/msg/String 30Hz
+    '/l20_{self.hand_type}_hand_control_cmd' 话题类型为 sensor_msgs/msg/JointState 控制话题，限制 30Hz
+    /l20_{self.hand_type}_hand_state 话题类型为 sensor_msgs/msg/JointState 30Hz
+    '/l20_{self.hand_type}_hand_matrix_touch' 话题类型为 std_msgs/msg/String 30Hz
     启动命令:
     ros2 run linker_hand_ros2_sdk linker_hand_advanced_g20 --hand_type left --can can0 --is_touch true
     '''

src/linker_hand_ros2_sdk/linker_hand_ros2_sdk/linker_hand_advanced_l10.py

@@ -76,17 +76,17 @@ class LinkerHandAdvancedL10(Node):
         self.api = LinkerHandApi(hand_type=self.hand_type, hand_joint=self.hand_joint,modbus=self.modbus,can=self.can)
         time.sleep(0.1)
         self.touch_type = self.api.get_touch_type()
-        self.hand_cmd_sub = self.create_subscription(JointState, f'/cb_{self.hand_type}_hand_control_cmd', self.hand_control_cb,10)
-        self.hand_state_pub = self.create_publisher(JointState, f'/cb_{self.hand_type}_hand_state',10)
+        self.hand_cmd_sub = self.create_subscription(JointState, f'/l20_{self.hand_type}_hand_control_cmd', self.hand_control_cb,10)
+        self.hand_state_pub = self.create_publisher(JointState, f'/l20_{self.hand_type}_hand_state',10)
         if self.is_touch == True:
             if self.touch_type > 1:
                 ColorMsg(msg=f"{self.hand_type} {self.hand_joint} Equipped with matrix pressure sensing", color='green')
-                self.matrix_touch_pub = self.create_publisher(String, f'/cb_{self.hand_type}_hand_matrix_touch', 10)
-                self.matrix_touch_pub_pc = self.create_publisher(PointCloud2, f'/cb_{self.hand_type}_hand_matrix_touch_pc', 10)
-                self.matrix_touch_mass_pub = self.create_publisher(String, f'/cb_{self.hand_type}_hand_matrix_touch_mass', 10)
+                self.matrix_touch_pub = self.create_publisher(String, f'/l20_{self.hand_type}_hand_matrix_touch', 10)
+                self.matrix_touch_pub_pc = self.create_publisher(PointCloud2, f'/l20_{self.hand_type}_hand_matrix_touch_pc', 10)
+                self.matrix_touch_mass_pub = self.create_publisher(Float32MultiArray, f'/l20_{self.hand_type}_hand_matrix_touch_mass', 10)
             elif self.touch_type != -1:
                 ColorMsg(msg=f"{self.hand_type} {self.hand_joint} Equipped with pressure sensor", color="green")
-                self.touch_pub = self.create_publisher(Float32MultiArray, f'/cb_{self.hand_type}_hand_force', 10)
+                self.touch_pub = self.create_publisher(Float32MultiArray, f'/l20_{self.hand_type}_hand_force', 10)
             else:
                 ColorMsg(msg=f"{self.hand_type} {self.hand_joint} Not equipped with any pressure sensors", color="red")
                 self.is_touch = False
@@ -151,7 +151,7 @@ class LinkerHandAdvancedL10(Node):
             self.matrix_dic["little_matrix"] = self.api.get_little_matrix_touch(sleep_time=0.004).tolist()
             # 发布矩阵压感数据JSON格式
             self.pub_matrix_dic()
-            # 发布矩阵压感和值JSON格式
+            # 发布矩阵压感合值浮点数组
             self.pub_matrix_mass(dic=self.matrix_dic)
             # 发布矩阵压感点云格式
             self.pub_matrix_point_cloud()
@@ -171,22 +171,15 @@ class LinkerHandAdvancedL10(Node):
         self.matrix_touch_pub.publish(msg)
 
     def pub_matrix_mass(self, dic):
-        """发布矩阵数据合值 单位g 克 JSON格式"""
-        msg = String()
-        # 获取当前的 ROS 时间
-        current_time = self.stamp_clock.now()
-        # 提取 secs 和 nsecs
-        t_secs = current_time.to_msg().sec
-        t_nsecs = current_time.to_msg().nanosec
-        self.matrix_mass_dic["stamp"]["secs"] = t_secs
-        self.matrix_mass_dic["stamp"]["nsecs"] = t_nsecs
-        self.matrix_mass_dic["unit"] = "g"
-        self.matrix_mass_dic["thumb_mass"] = sum(sum(row) for row in dic["thumb_matrix"])
-        self.matrix_mass_dic["index_mass"] = sum(sum(row) for row in dic["index_matrix"])
-        self.matrix_mass_dic["middle_mass"] = sum(sum(row) for row in dic["middle_matrix"])
-        self.matrix_mass_dic["ring_mass"] = sum(sum(row) for row in dic["ring_matrix"])
-        self.matrix_mass_dic["little_mass"] = sum(sum(row) for row in dic["little_matrix"])
-        msg.data = json.dumps(self.matrix_mass_dic)
+        """发布矩阵数据合值，顺序为 thumb, index, middle, ring, little，单位 g。"""
+        msg = Float32MultiArray()
+        msg.data = [
+            float(sum(sum(row) for row in dic["thumb_matrix"])),
+            float(sum(sum(row) for row in dic["index_matrix"])),
+            float(sum(sum(row) for row in dic["middle_matrix"])),
+            float(sum(sum(row) for row in dic["ring_matrix"])),
+            float(sum(sum(row) for row in dic["little_matrix"])),
+        ]
         self.matrix_touch_mass_pub.publish(msg)
 
     def pub_matrix_point_cloud(self):
@@ -218,11 +211,11 @@ class LinkerHandAdvancedL10(Node):
 def main(args=None):
     '''
     本节点用于收集手指状态和压感数据。
-    '/cb_{self.hand_type}_hand_control_cmd' 话题类型为 sensor_msgs/msg/JointState 控制话题，限制 30Hz
-    /cb_{self.hand_type}_hand_state 话题类型为 sensor_msgs/msg/JointState 30Hz
-    '/cb_{self.hand_type}_hand_matrix_touch' 话题类型为 std_msgs/msg/String 30Hz
-    '/cb_{self.hand_type}_hand_matrix_touch_pc', 10)
-                self.matrix_touch_mass_pub = self.create_publisher(String, f'/cb_{self.hand_type}_hand_matrix_touch_mass', 10)
+    '/l20_{self.hand_type}_hand_control_cmd' 话题类型为 sensor_msgs/msg/JointState 控制话题，限制 30Hz
+    /l20_{self.hand_type}_hand_state 话题类型为 sensor_msgs/msg/JointState 30Hz
+    '/l20_{self.hand_type}_hand_matrix_touch' 话题类型为 std_msgs/msg/String 30Hz
+    '/l20_{self.hand_type}_hand_matrix_touch_pc', 10)
+                self.matrix_touch_mass_pub = self.create_publisher(Float32MultiArray, f'/l20_{self.hand_type}_hand_matrix_touch_mass', 10)
     启动命令:
     ros2 run linker_hand_ros2_sdk linker_hand_advanced_l10 --hand_type left --can can0 --is_touch true
     '''

src/linker_hand_ros2_sdk/linker_hand_ros2_sdk/linker_hand_advanced_l6.py

@@ -78,17 +78,17 @@ class LinkerHandAdvancedL6(Node):
         self.api = LinkerHandApi(hand_type=self.hand_type, hand_joint=self.hand_joint,modbus=self.modbus,can=self.can)
         time.sleep(0.1)
         self.touch_type = self.api.get_touch_type()
-        self.hand_cmd_sub = self.create_subscription(JointState, f'/cb_{self.hand_type}_hand_control_cmd', self.hand_control_cb,10)
-        self.hand_state_pub = self.create_publisher(JointState, f'/cb_{self.hand_type}_hand_state',10)
+        self.hand_cmd_sub = self.create_subscription(JointState, f'/l20_{self.hand_type}_hand_control_cmd', self.hand_control_cb,10)
+        self.hand_state_pub = self.create_publisher(JointState, f'/l20_{self.hand_type}_hand_state',10)
         if self.is_touch == True:
             if self.touch_type > 1:
                 ColorMsg(msg=f"{self.hand_type} {self.hand_joint} Equipped with matrix pressure sensing", color='green')
-                self.matrix_touch_pub = self.create_publisher(String, f'/cb_{self.hand_type}_hand_matrix_touch', 10)
-                self.matrix_touch_pub_pc = self.create_publisher(PointCloud2, f'/cb_{self.hand_type}_hand_matrix_touch_pc', 10)
-                self.matrix_touch_mass_pub = self.create_publisher(String, f'/cb_{self.hand_type}_hand_matrix_touch_mass', 10)
+                self.matrix_touch_pub = self.create_publisher(String, f'/l20_{self.hand_type}_hand_matrix_touch', 10)
+                self.matrix_touch_pub_pc = self.create_publisher(PointCloud2, f'/l20_{self.hand_type}_hand_matrix_touch_pc', 10)
+                self.matrix_touch_mass_pub = self.create_publisher(Float32MultiArray, f'/l20_{self.hand_type}_hand_matrix_touch_mass', 10)
             elif self.touch_type != -1:
                 ColorMsg(msg=f"{self.hand_type} {self.hand_joint} Equipped with pressure sensor", color="green")
-                self.touch_pub = self.create_publisher(Float32MultiArray, f'/cb_{self.hand_type}_hand_force', 10)
+                self.touch_pub = self.create_publisher(Float32MultiArray, f'/l20_{self.hand_type}_hand_force', 10)
             else:
                 ColorMsg(msg=f"{self.hand_type} {self.hand_joint} Not equipped with any pressure sensors", color="red")
                 self.is_touch = False
@@ -155,7 +155,7 @@ class LinkerHandAdvancedL6(Node):
             self.matrix_dic["little_matrix"] = self.api.get_little_matrix_touch(sleep_time=0.003).tolist()
             # 发布矩阵压感数据JSON格式
             self.pub_matrix_dic()
-            # 发布矩阵压感和值JSON格式
+            # 发布矩阵压感合值浮点数组
             self.pub_matrix_mass(dic=self.matrix_dic)
             # 发布矩阵压感点云格式
             self.pub_matrix_point_cloud()
@@ -174,22 +174,15 @@ class LinkerHandAdvancedL6(Node):
         self.matrix_touch_pub.publish(msg)
 
     def pub_matrix_mass(self, dic):
-        """发布矩阵数据合值 单位g 克 JSON格式"""
-        msg = String()
-        # 获取当前的 ROS 时间
-        current_time = self.stamp_clock.now()
-        # 提取 secs 和 nsecs
-        t_secs = current_time.to_msg().sec
-        t_nsecs = current_time.to_msg().nanosec
-        self.matrix_mass_dic["stamp"]["secs"] = t_secs
-        self.matrix_mass_dic["stamp"]["nsecs"] = t_nsecs
-        self.matrix_mass_dic["unit"] = "g"
-        self.matrix_mass_dic["thumb_mass"] = sum(sum(row) for row in dic["thumb_matrix"])
-        self.matrix_mass_dic["index_mass"] = sum(sum(row) for row in dic["index_matrix"])
-        self.matrix_mass_dic["middle_mass"] = sum(sum(row) for row in dic["middle_matrix"])
-        self.matrix_mass_dic["ring_mass"] = sum(sum(row) for row in dic["ring_matrix"])
-        self.matrix_mass_dic["little_mass"] = sum(sum(row) for row in dic["little_matrix"])
-        msg.data = json.dumps(self.matrix_mass_dic)
+        """发布矩阵数据合值，顺序为 thumb, index, middle, ring, little，单位 g。"""
+        msg = Float32MultiArray()
+        msg.data = [
+            float(sum(sum(row) for row in dic["thumb_matrix"])),
+            float(sum(sum(row) for row in dic["index_matrix"])),
+            float(sum(sum(row) for row in dic["middle_matrix"])),
+            float(sum(sum(row) for row in dic["ring_matrix"])),
+            float(sum(sum(row) for row in dic["little_matrix"])),
+        ]
         self.matrix_touch_mass_pub.publish(msg)
 
     def pub_matrix_point_cloud(self):
@@ -222,9 +215,9 @@ class LinkerHandAdvancedL6(Node):
 def main(args=None):
     '''
     本节点用于收集手指状态和压感数据。
-    '/cb_{self.hand_type}_hand_control_cmd' 话题类型为 sensor_msgs/msg/JointState 控制话题，限制 30Hz
-    /cb_{self.hand_type}_hand_state 话题类型为 sensor_msgs/msg/JointState 40Hz
-    '/cb_{self.hand_type}_hand_matrix_touch' 话题类型为 std_msgs/msg/String 40Hz
+    '/l20_{self.hand_type}_hand_control_cmd' 话题类型为 sensor_msgs/msg/JointState 控制话题，限制 30Hz
+    /l20_{self.hand_type}_hand_state 话题类型为 sensor_msgs/msg/JointState 40Hz
+    '/l20_{self.hand_type}_hand_matrix_touch' 话题类型为 std_msgs/msg/String 40Hz
     启动命令:
     ros2 run linker_hand_ros2_sdk linker_hand_advanced_l6 --hand_type left --can can0 --is_touch true
     '''

src/linker_hand_ros2_sdk/linker_hand_ros2_sdk/linker_hand_advanced_l7.py

@@ -79,17 +79,17 @@ class LinkerHandAdvancedL7(Node):
         self.api = LinkerHandApi(hand_type=self.hand_type, hand_joint=self.hand_joint,modbus=self.modbus,can=self.can)
         time.sleep(0.1)
         self.touch_type = self.api.get_touch_type()
-        self.hand_cmd_sub = self.create_subscription(JointState, f'/cb_{self.hand_type}_hand_control_cmd', self.hand_control_cb,10)
-        self.hand_state_pub = self.create_publisher(JointState, f'/cb_{self.hand_type}_hand_state',10)
+        self.hand_cmd_sub = self.create_subscription(JointState, f'/l20_{self.hand_type}_hand_control_cmd', self.hand_control_cb,10)
+        self.hand_state_pub = self.create_publisher(JointState, f'/l20_{self.hand_type}_hand_state',10)
         if self.is_touch == True:
             if self.touch_type > 1:
                 ColorMsg(msg=f"{self.hand_type} {self.hand_joint} Equipped with matrix pressure sensing", color='green')
-                self.matrix_touch_pub = self.create_publisher(String, f'/cb_{self.hand_type}_hand_matrix_touch', 10)
-                self.matrix_touch_pub_pc = self.create_publisher(PointCloud2, f'/cb_{self.hand_type}_hand_matrix_touch_pc', 10)
-                self.matrix_touch_mass_pub = self.create_publisher(String, f'/cb_{self.hand_type}_hand_matrix_touch_mass', 10)
+                self.matrix_touch_pub = self.create_publisher(String, f'/l20_{self.hand_type}_hand_matrix_touch', 10)
+                self.matrix_touch_pub_pc = self.create_publisher(PointCloud2, f'/l20_{self.hand_type}_hand_matrix_touch_pc', 10)
+                self.matrix_touch_mass_pub = self.create_publisher(Float32MultiArray, f'/l20_{self.hand_type}_hand_matrix_touch_mass', 10)
             elif self.touch_type != -1:
                 ColorMsg(msg=f"{self.hand_type} {self.hand_joint} Equipped with pressure sensor", color="green")
-                self.touch_pub = self.create_publisher(Float32MultiArray, f'/cb_{self.hand_type}_hand_force', 10)
+                self.touch_pub = self.create_publisher(Float32MultiArray, f'/l20_{self.hand_type}_hand_force', 10)
             else:
                 ColorMsg(msg=f"{self.hand_type} {self.hand_joint} Not equipped with any pressure sensors", color="red")
                 self.is_touch = False
@@ -185,7 +185,7 @@ class LinkerHandAdvancedL7(Node):
                 self.matrix_dic["little_matrix"] = self.api.get_little_matrix_touch(sleep_time=0.006).tolist()
             # 发布矩阵压感数据JSON格式
             self.pub_matrix_dic()
-            # 发布矩阵压感和值JSON格式
+            # 发布矩阵压感合值浮点数组
             self.pub_matrix_mass(dic=self.matrix_dic)
             # 发布矩阵压感点云格式
             self.pub_matrix_point_cloud()
@@ -208,22 +208,15 @@ class LinkerHandAdvancedL7(Node):
         self.matrix_touch_pub.publish(msg)
 
     def pub_matrix_mass(self, dic):
-        """发布矩阵数据合值 单位g 克 JSON格式"""
-        msg = String()
-        # 获取当前的 ROS 时间
-        current_time = self.stamp_clock.now()
-        # 提取 secs 和 nsecs
-        t_secs = current_time.to_msg().sec
-        t_nsecs = current_time.to_msg().nanosec
-        self.matrix_mass_dic["stamp"]["secs"] = t_secs
-        self.matrix_mass_dic["stamp"]["nsecs"] = t_nsecs
-        self.matrix_mass_dic["unit"] = "g"
-        self.matrix_mass_dic["thumb_mass"] = sum(sum(row) for row in dic["thumb_matrix"])
-        self.matrix_mass_dic["index_mass"] = sum(sum(row) for row in dic["index_matrix"])
-        self.matrix_mass_dic["middle_mass"] = sum(sum(row) for row in dic["middle_matrix"])
-        self.matrix_mass_dic["ring_mass"] = sum(sum(row) for row in dic["ring_matrix"])
-        self.matrix_mass_dic["little_mass"] = sum(sum(row) for row in dic["little_matrix"])
-        msg.data = json.dumps(self.matrix_mass_dic)
+        """发布矩阵数据合值，顺序为 thumb, index, middle, ring, little，单位 g。"""
+        msg = Float32MultiArray()
+        msg.data = [
+            float(sum(sum(row) for row in dic["thumb_matrix"])),
+            float(sum(sum(row) for row in dic["index_matrix"])),
+            float(sum(sum(row) for row in dic["middle_matrix"])),
+            float(sum(sum(row) for row in dic["ring_matrix"])),
+            float(sum(sum(row) for row in dic["little_matrix"])),
+        ]
         self.matrix_touch_mass_pub.publish(msg)
 
     def pub_matrix_point_cloud(self):
@@ -255,9 +248,9 @@ class LinkerHandAdvancedL7(Node):
 def main(args=None):
     '''
     本节点用于收集手指状态和压感数据。
-    '/cb_{self.hand_type}_hand_control_cmd' 话题类型为 sensor_msgs/msg/JointState 控制话题，限制 30Hz
-    /cb_{self.hand_type}_hand_state 话题类型为 sensor_msgs/msg/JointState 40Hz
-    '/cb_{self.hand_type}_hand_matrix_touch' 话题类型为 std_msgs/msg/String 40Hz
+    '/l20_{self.hand_type}_hand_control_cmd' 话题类型为 sensor_msgs/msg/JointState 控制话题，限制 30Hz
+    /l20_{self.hand_type}_hand_state 话题类型为 sensor_msgs/msg/JointState 40Hz
+    '/l20_{self.hand_type}_hand_matrix_touch' 话题类型为 std_msgs/msg/String 40Hz
     启动命令:
     ros2 run linker_hand_ros2_sdk linker_hand_advanced_l7 --hand_type left --can can0 --is_touch true
     '''

src/linker_hand_ros2_sdk/linker_hand_ros2_sdk/linker_hand_advanced_o6.py

@@ -77,17 +77,17 @@ class LinkerHandAdvancedO6(Node):
         self.api = LinkerHandApi(hand_type=self.hand_type, hand_joint=self.hand_joint,modbus=self.modbus,can=self.can)
         time.sleep(0.1)
         self.touch_type = self.api.get_touch_type()
-        self.hand_cmd_sub = self.create_subscription(JointState, f'/cb_{self.hand_type}_hand_control_cmd', self.hand_control_cb,10)
-        self.hand_state_pub = self.create_publisher(JointState, f'/cb_{self.hand_type}_hand_state',10)
+        self.hand_cmd_sub = self.create_subscription(JointState, f'/l20_{self.hand_type}_hand_control_cmd', self.hand_control_cb,10)
+        self.hand_state_pub = self.create_publisher(JointState, f'/l20_{self.hand_type}_hand_state',10)
         if self.is_touch == True:
             if self.touch_type > 1:
                 ColorMsg(msg=f"{self.hand_type} {self.hand_joint} Equipped with matrix pressure sensing", color='green')
-                self.matrix_touch_pub = self.create_publisher(String, f'/cb_{self.hand_type}_hand_matrix_touch', 10)
-                self.matrix_touch_pub_pc = self.create_publisher(PointCloud2, f'/cb_{self.hand_type}_hand_matrix_touch_pc', 10)
-                self.matrix_touch_mass_pub = self.create_publisher(String, f'/cb_{self.hand_type}_hand_matrix_touch_mass', 10)
+                self.matrix_touch_pub = self.create_publisher(String, f'/l20_{self.hand_type}_hand_matrix_touch', 10)
+                self.matrix_touch_pub_pc = self.create_publisher(PointCloud2, f'/l20_{self.hand_type}_hand_matrix_touch_pc', 10)
+                self.matrix_touch_mass_pub = self.create_publisher(Float32MultiArray, f'/l20_{self.hand_type}_hand_matrix_touch_mass', 10)
             elif self.touch_type != -1:
                 ColorMsg(msg=f"{self.hand_type} {self.hand_joint} Equipped with pressure sensor", color="green")
-                self.touch_pub = self.create_publisher(Float32MultiArray, f'/cb_{self.hand_type}_hand_force', 10)
+                self.touch_pub = self.create_publisher(Float32MultiArray, f'/l20_{self.hand_type}_hand_force', 10)
             else:
                 ColorMsg(msg=f"{self.hand_type} {self.hand_joint} Not equipped with any pressure sensors", color="red")
                 self.is_touch = False
@@ -160,7 +160,7 @@ class LinkerHandAdvancedO6(Node):
             self.matrix_dic["little_matrix"] = self.api.get_little_matrix_touch(sleep_time=0.002).tolist()
             # 发布矩阵压感数据JSON格式
             self.pub_matrix_dic()
-            # 发布矩阵压感和值JSON格式
+            # 发布矩阵压感合值浮点数组
             self.pub_matrix_mass(dic=self.matrix_dic)
             # 发布矩阵压感点云格式
             self.pub_matrix_point_cloud()
@@ -179,22 +179,15 @@ class LinkerHandAdvancedO6(Node):
         self.matrix_touch_pub.publish(msg)
 
     def pub_matrix_mass(self, dic):
-        """发布矩阵数据合值 单位g 克 JSON格式"""
-        msg = String()
-        # 获取当前的 ROS 时间
-        current_time = self.stamp_clock.now()
-        # 提取 secs 和 nsecs
-        t_secs = current_time.to_msg().sec
-        t_nsecs = current_time.to_msg().nanosec
-        self.matrix_mass_dic["stamp"]["secs"] = t_secs
-        self.matrix_mass_dic["stamp"]["nsecs"] = t_nsecs
-        self.matrix_mass_dic["unit"] = "g"
-        self.matrix_mass_dic["thumb_mass"] = sum(sum(row) for row in dic["thumb_matrix"])
-        self.matrix_mass_dic["index_mass"] = sum(sum(row) for row in dic["index_matrix"])
-        self.matrix_mass_dic["middle_mass"] = sum(sum(row) for row in dic["middle_matrix"])
-        self.matrix_mass_dic["ring_mass"] = sum(sum(row) for row in dic["ring_matrix"])
-        self.matrix_mass_dic["little_mass"] = sum(sum(row) for row in dic["little_matrix"])
-        msg.data = json.dumps(self.matrix_mass_dic)
+        """发布矩阵数据合值，顺序为 thumb, index, middle, ring, little，单位 g。"""
+        msg = Float32MultiArray()
+        msg.data = [
+            float(sum(sum(row) for row in dic["thumb_matrix"])),
+            float(sum(sum(row) for row in dic["index_matrix"])),
+            float(sum(sum(row) for row in dic["middle_matrix"])),
+            float(sum(sum(row) for row in dic["ring_matrix"])),
+            float(sum(sum(row) for row in dic["little_matrix"])),
+        ]
         self.matrix_touch_mass_pub.publish(msg)
 
     def pub_matrix_point_cloud(self):
@@ -226,9 +219,9 @@ class LinkerHandAdvancedO6(Node):
 def main(args=None):
     '''
     本节点用于收集手指状态和压感数据。
-    '/cb_{self.hand_type}_hand_control_cmd' 话题类型为 sensor_msgs/msg/JointState 控制话题，限制 30Hz
-    /cb_{self.hand_type}_hand_state 话题类型为 sensor_msgs/msg/JointState 50Hz
-    '/cb_{self.hand_type}_hand_matrix_touch' 话题类型为 std_msgs/msg/String 50Hz
+    '/l20_{self.hand_type}_hand_control_cmd' 话题类型为 sensor_msgs/msg/JointState 控制话题，限制 30Hz
+    /l20_{self.hand_type}_hand_state 话题类型为 sensor_msgs/msg/JointState 50Hz
+    '/l20_{self.hand_type}_hand_matrix_touch' 话题类型为 std_msgs/msg/String 50Hz
     启动命令:
     ros2 run linker_hand_ros2_sdk linker_hand_advanced_o6 --hand_type right --can can0 --is_touch true
     '''

src/linker_hand_ros2_sdk/linker_hand_ros2_sdk/linker_hand_g20_palm_touch.py

@@ -88,17 +88,17 @@ class LinkerHandAdvancedG20(Node):
         self.api = LinkerHandApi(hand_type=self.hand_type, hand_joint=self.hand_joint,modbus=self.modbus,can=self.can)
         time.sleep(0.1)
         self.touch_type = self.api.get_touch_type()
-        self.hand_cmd_sub = self.create_subscription(JointState, f'/cb_{self.hand_type}_hand_control_cmd', self.hand_control_cb,10)
-        self.hand_state_pub = self.create_publisher(JointState, f'/cb_{self.hand_type}_hand_state',10)
+        self.hand_cmd_sub = self.create_subscription(JointState, f'/l20_{self.hand_type}_hand_control_cmd', self.hand_control_cb,10)
+        self.hand_state_pub = self.create_publisher(JointState, f'/l20_{self.hand_type}_hand_state',10)
         if self.is_touch == True:
             if self.touch_type > 1:
                 ColorMsg(msg=f"{self.hand_type} {self.hand_joint} Equipped with matrix pressure sensing", color='green')
-                self.matrix_touch_pub = self.create_publisher(String, f'/cb_{self.hand_type}_hand_matrix_touch', 10)
-                #self.matrix_touch_pub_pc = self.create_publisher(PointCloud2, f'/cb_{self.hand_type}_hand_matrix_touch_pc', 10)
-                self.matrix_touch_mass_pub = self.create_publisher(String, f'/cb_{self.hand_type}_hand_matrix_touch_mass', 10)
+                self.matrix_touch_pub = self.create_publisher(String, f'/l20_{self.hand_type}_hand_matrix_touch', 10)
+                #self.matrix_touch_pub_pc = self.create_publisher(PointCloud2, f'/l20_{self.hand_type}_hand_matrix_touch_pc', 10)
+                self.matrix_touch_mass_pub = self.create_publisher(Float32MultiArray, f'/l20_{self.hand_type}_hand_matrix_touch_mass', 10)
             elif self.touch_type != -1:
                 ColorMsg(msg=f"{self.hand_type} {self.hand_joint} Equipped with pressure sensor", color="green")
-                self.touch_pub = self.create_publisher(Float32MultiArray, f'/cb_{self.hand_type}_hand_force', 10)
+                self.touch_pub = self.create_publisher(Float32MultiArray, f'/l20_{self.hand_type}_hand_force', 10)
             else:
                 ColorMsg(msg=f"{self.hand_type} {self.hand_joint} Not equipped with any pressure sensors", color="red")
                 self.is_touch = False
@@ -172,7 +172,7 @@ class LinkerHandAdvancedG20(Node):
                 self.matrix_dic["palm_matrix"] = self.api.get_palm_matrix_touch(sleep_time=self.touch_sleep_time).tolist()
             # 发布矩阵压感数据JSON格式
             self.pub_matrix_dic()
-            # 发布矩阵压感和值JSON格式
+            # 发布矩阵压感合值浮点数组
             self.pub_matrix_mass(dic=self.matrix_dic)
             # 发布矩阵压感点云格式
             #self.pub_matrix_point_cloud()
@@ -194,23 +194,15 @@ class LinkerHandAdvancedG20(Node):
         self.matrix_touch_pub.publish(msg)
 
     def pub_matrix_mass(self, dic):
-        """发布矩阵数据合值 单位g 克 JSON格式"""
-        msg = String()
-        # 获取当前的 ROS 时间
-        current_time = self.stamp_clock.now()
-        # 提取 secs 和 nsecs
-        t_secs = current_time.to_msg().sec
-        t_nsecs = current_time.to_msg().nanosec
-        self.matrix_mass_dic["stamp"]["secs"] = t_secs
-        self.matrix_mass_dic["stamp"]["nsecs"] = t_nsecs
-        self.matrix_mass_dic["unit"] = "g"
-        self.matrix_mass_dic["thumb_mass"] = self.api.hand.thumb_matrix_palm_mass
-        self.matrix_mass_dic["index_mass"] = self.api.hand.index_matrix_palm_mass
-        self.matrix_mass_dic["middle_mass"] = self.api.hand.middle_matrix_palm_mass
-        self.matrix_mass_dic["ring_mass"] = self.api.hand.ring_matrix_palm_mass
-        self.matrix_mass_dic["little_mass"] = self.api.hand.little_matrix_palm_mass
-        self.matrix_mass_dic["palm_mass"] = self.api.hand.palm_matrix_palm_mass
-        msg.data = json.dumps(self.matrix_mass_dic)
+        """发布矩阵数据合值，顺序为 thumb, index, middle, ring, little，单位 g。"""
+        msg = Float32MultiArray()
+        msg.data = [
+            float(sum(self.api.hand.thumb_matrix_palm_mass)),
+            float(sum(self.api.hand.index_matrix_palm_mass)),
+            float(sum(self.api.hand.middle_matrix_palm_mass)),
+            float(sum(self.api.hand.ring_matrix_palm_mass)),
+            float(sum(self.api.hand.little_matrix_palm_mass)),
+        ]
         self.matrix_touch_mass_pub.publish(msg)
 
     # def pub_matrix_point_cloud(self):
@@ -242,9 +234,9 @@ class LinkerHandAdvancedG20(Node):
 def main(args=None):
     '''
     本节点用于收集手指状态和压感数据。
-    '/cb_{self.hand_type}_hand_control_cmd' 话题类型为 sensor_msgs/msg/JointState 控制话题，限制 30Hz
-    /cb_{self.hand_type}_hand_state 话题类型为 sensor_msgs/msg/JointState 30Hz
-    '/cb_{self.hand_type}_hand_matrix_touch' 话题类型为 std_msgs/msg/String 30Hz
+    '/l20_{self.hand_type}_hand_control_cmd' 话题类型为 sensor_msgs/msg/JointState 控制话题，限制 30Hz
+    /l20_{self.hand_type}_hand_state 话题类型为 sensor_msgs/msg/JointState 30Hz
+    '/l20_{self.hand_type}_hand_matrix_touch' 话题类型为 std_msgs/msg/String 30Hz
     启动命令:
     ros2 run linker_hand_ros2_sdk linker_hand_g20_palm_touch --hand_type left --can can0 --is_touch true
     '''
@@ -265,4 +257,4 @@ def main(args=None):
         node.close_can()         # 关闭 CAN 或其他硬件资源
         # node.destroy_node()      # 销毁 ROS 节点
         # rclpy.shutdown()         # 关闭 ROS
-        print("程序已退出。")
+        print("程序已退出。")

src/linker_hand_ros2_sdk/linker_hand_ros2_sdk/o6_joint_curve.py

@@ -145,7 +145,7 @@ class O6JointCurveRecorder(Node):
         self.saved_paths = None
         self.finished = False
 
-        topic = f"/cb_{hand_type}_hand_state"
+        topic = f"/l20_{hand_type}_hand_state"
         self.subscription = self.create_subscription(
             JointState, topic, self._state_callback, 100
         )