22 lines
1.1 KiB
Python
22 lines
1.1 KiB
Python
#!/usr/bin/env python3
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# -*- coding: utf-8 -*-
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from launch import LaunchDescription
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from launch_ros.actions import Node
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def generate_launch_description():
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return LaunchDescription([
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Node(
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package='linker_hand_ros2_sdk',
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executable='linker_hand_sdk',
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name='linker_hand_sdk',
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output='screen',
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parameters=[{
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'hand_type': 'left', # 配置Linker Hand灵巧手类型 left | right 字母为小写
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'hand_joint': "O6", # O6\L6P\L6\L7\L10\L20\G20(工业版)\L21 字母为大写
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'is_touch': True, # 配置Linker Hand灵巧手是否有压力传感器 True | False
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'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。注：蓝色盒子为Linux下can0，WIN下位PCAN_USBBUS1。透明盒子Linux下为can0，WIN下为0
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"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* 注意添加sudo chmod 777 /dev/ttyUSB*权限
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}],
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),
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])
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