From fb682422d32cfbd91c040f9252fb6a8d775a36bc Mon Sep 17 00:00:00 2001
From: weipengzhe <3389096668@qq.com>
Date: Fri, 18 Sep 2026 12:58:38 +0800
Subject: [PATCH] =?UTF-8?q?=E7=81=B5=E5=B7=A7=E6=89=8B=E9=80=9A=E4=BF=A1?=
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---
 .../launch/linker_hand_double.launch.py                     | 4 ++--
 src/linker_hand_ros2_sdk/setup.py                           | 6 +++++-
 2 files changed, 7 insertions(+), 3 deletions(-)

diff --git a/src/linker_hand_ros2_sdk/launch/linker_hand_double.launch.py b/src/linker_hand_ros2_sdk/launch/linker_hand_double.launch.py
index 4d81d46..f5c283a 100644
--- a/src/linker_hand_ros2_sdk/launch/linker_hand_double.launch.py
+++ b/src/linker_hand_ros2_sdk/launch/linker_hand_double.launch.py
@@ -12,7 +12,7 @@ def generate_launch_description():
             output='screen',
             parameters=[{
                 'hand_type': 'left', # 配置Linker Hand灵巧手类型 left | right 字母为小写
-                'hand_joint': "G20", # O6\L6P\L6\L7\L10\L20\G20(工业版)\L21 字母为大写
+                'hand_joint': "L20", # O6\L6P\L6\L7\L10\L20\G20(工业版)\L21 字母为大写
                 'is_touch': True, # 配置Linker Hand灵巧手是否有压力传感器 True | False
                 'can': 'can0', # 这里需要修改为实际的CAN总线名称 如果是win系统则类似于 PCAN_USBBUS1
                 "modbus": "None" # "None" | "/dev/ttyUSB0" 这里需要修改为实际的Modbus总线名称 如果是win系统则 COM* Ubuntu则为/dev/ttyUSB*
@@ -26,7 +26,7 @@ def generate_launch_description():
             output='screen',
             parameters=[{
                 'hand_type': 'right', # 配置Linker Hand灵巧手类型 left | right 字母为小写
-                'hand_joint': "G20", # O6\L6P\L6\L7\L10\L20\G20(工业版)\L21 字母为大写
+                'hand_joint': "L20", # O6\L6P\L6\L7\L10\L20\G20(工业版)\L21 字母为大写
                 'is_touch': True, # 配置Linker Hand灵巧手是否有压力传感器 True | False
                 'can': 'can1', # 这里需要修改为实际的CAN总线名称 如果是win系统则类似于 PCAN_USBBUS1
                 "modbus": "None" # "None" | "/dev/ttyUSB0" 这里需要修改为实际的Modbus总线名称 如果是win系统则 COM* Ubuntu则为/dev/ttyUSB*
diff --git a/src/linker_hand_ros2_sdk/setup.py b/src/linker_hand_ros2_sdk/setup.py
index 5a1479f..13b71d4 100644
--- a/src/linker_hand_ros2_sdk/setup.py
+++ b/src/linker_hand_ros2_sdk/setup.py
@@ -29,9 +29,13 @@ setup(
     name=package_name,
     version='0.0.0',
     packages=find_packages(include=[package_name, f"{package_name}.*"]),
+    package_data={
+        package_name: ['LinkerHand/config/*.yaml'],
+    },
+    include_package_data=True,
     data_files=data_files,
     install_requires=['setuptools'],
-    zip_safe=True,
+    zip_safe=False,
     maintainer='linker-robot',
     maintainer_email='linker-robot@todo.todo',
     description='ROS2 SDK for Linker Hand',