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LinkerHand灵巧手ROS2 SDK For L30

1. 概述

LinkerHand灵巧手ROS SDK 是灵心巧手(北京)科技有限公司开发，用于L30等LinkerHand灵巧手的驱动软件和功能示例源码。可用于真机与仿真器使用。 LinkerHandROS2 SDK当前支持Ubuntu22.04 ROS humble Python3.10 及以上环境

Name Version Link
ROS2 SDK SDK Version Python 3.11 Ubuntu 24.04 ROS 2 Jazzy Windows 11 GitHub 仓库

2. 警告

  1. 请保持远离灵巧手活动范围，避免造成人身伤害或设备损坏。

  2. 执行动作前请务必进行安全评估，以防止发生碰撞。

  3. 请保护好灵巧手。

3. 版本说明

V3.0.1

  1. 硬件升级到V6版本，优化电机温度。
  2. 增加指尖矩阵压感功能。
  3. GUI控制可显示矩阵指尖压感热力图和波形图

V2.0.1

  1. 更新GUI控制和动作序列

V1.0.2

  1. 支持L30线驱版本LinkeerHand灵巧手左手和右手
  2. 支持手指运行速度设置

V1.0.1

  1. 支持L30线驱版本LinkeerHand灵巧手
  2. GUI控制界面

4.1 系统与硬件需求

  • 操作系统：Ubuntu24.04

  • ROS2版本：Jazzy

  • Python版本：V3.12

  • 硬件：amd64_x86/arm64 配备 5v标准USB接口

将libcanbus用命令解压到/usr/local/lib/目录下面

tar -xvf libcanbus.tar -C /usr/local/lib/

配置环境变量: export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib

libcanbus.a为静态库，libcanbus.so为共享库

libcanbus_arm 编译器为 arm-linux-gnueabihf-gcc libcanbus_arm64 编译器为 aarch64-linux-gnu-gcc libcanbus(ubuntu20) 编译器为 gcc version 9.4.0 libcanbus(ubuntu22) 编译器为 gcc version 11.3.0

编译时先加载libcanbus库，再加载libusb库(源码注释里面有编译方法)。

如果编译提示pthread相关错误，说明libcanbus.tar 自带的libusb库不匹配， 请安装libusb库 sudo apt-get install libusb-1.0-0-dev 并删掉/usr/local/lib目录下的libusb相关库文件

如果提示ludev错误，请安装libudev-dev： sudo apt-get install libudev-dev

如果编译过程中找不到cc1plus 请安装 sudo apt-get install --reinstall build-essential

注意：root用户可直接读写usbcan设备，非root用户，需要修改usbcan模块的操作权限，可百度搜索修改方法。 或者尝试将99-canfd.rules文件放到 /etc/udev/rules.d/， 然后执行

$ sudo udevadm control --reload-rules
$ sudo udevadm trigger

重启系统。

硬件V5版以前早期CANFD版本请跳转至L30 CANFD

4.2 下载

$ mkdir -p linker_hand_l30_sdk/src    #创建目录
$ cd linker_hand_l30_sdk/src    #进入目录
$ git clone https://github.com/linker-bot/linkerhand-l30-sdk.git    #获取SDK

4.3 安装依赖与编译

$ cd linker_hand_l30_sdk/src/linker_hand_l30_sdk    #进入目录
$ pip install -r requirements.txt    #安装所需依赖
$ cd linker_hand_l30_sdk # 回到工程目录
$ colcon build --symlink-install    #编译和构建ROS包

5 启动SDK

  • 修改src/linker_hand_l30_v6/launch/linker_hand_l30_v6.launch.py文件，按照文件内参数说明进行修改
$ cd linker_hand_l30_sdk/
$ source ./install/setup.bash
$ ros2 launch linker_hand_l30_v6 linker_hand_l30_v6.launch.py
$ [linker_hand_l30_v6-1] 2026-04-17 10:10:42  开始连接L30...
$ [linker_hand_l30_v6-1] 找到 1 个设备
$ [linker_hand_l30_v6-1] 设备通道 0 打开成功
$ [linker_hand_l30_v6-1] 使能所有关节...
$ [linker_hand_l30_v6-1] 2026-04-17 10:10:43  连接成功,Linker Hand L30 - right在CANFD编号为0设备上
$ [linker_hand_l30_v6-1] 2026-04-17 10:10:43  关节名称: ['thumb_cmc_pitch', 'thumb_ip_pitch', 'thumb_cmc_yaw', 'thumb_cmc_roll', 'ring_mcp_roll', 'ring_pip_pitch', 'ring_mcp_pitch', 'middle_mcp_pitch', 'middle_pip_pitch', 'pinky_mcp_pitch', 'pinky_pip_pitch', 'pinky_mcp_roll', 'middle_mcp_roll', 'index_mcp_roll', 'index_mcp_pitch', 'index_pip_pitch', 'wrist_pitch']
$ [linker_hand_l30_v6-1] 2026-04-17 10:10:43  设置扭矩: 2047
$ [linker_hand_l30_v6-1] 2026-04-17 10:10:43  设置扭矩: 32767
$ #显示以上信息则SDK启动成功

5.1启动GUI控制L30灵巧手

  • 启动SDK后，新开一个终端。注:由于有界面，不能使用ssh远程连接开启GUI 或者使用X11 终端
  • 修改gui_control/launch/gui_control.launch.py 按照参数说明，修改左手 or 右手
$ cd linker_hand_l30_sdk
$ source ./install/setup.bash
$ ros2 launch gui_control gui_control.launch.py

  • 启动后自带指尖矩阵压感热力图和波形图

6 L30手指控制顺序

["拇指指根弯曲", "拇指指尖弯曲", "拇指侧摆", "拇指旋转", "无名指侧摆", "无名指指尖弯曲", "无名指指根弯曲","中指指根弯曲", "中指指尖弯曲", "小指根弯曲","小指指尖弯曲", "小指侧摆", "中指侧摆", "食指侧摆","食指指根弯曲", "食指指尖弯曲", "手腕"]

["thumb_cmc_pitch", "thumb_ip_pitch", "thumb_cmc_yaw", "thumb_cmc_roll", "ring_mcp_roll", "ring_pip_pitch", "ring_mcp_pitch", "middle_mcp_pitch", "middle_pip_pitch", "pinky_mcp_pitch", "pinky_pip_pitch", "pinky_mcp_roll", "middle_mcp_roll", "index_mcp_roll", "index_mcp_pitch", "index_pip_pitch", "wrist_pitch"]

6.1 控制范围限制，对应控制顺序

(0, 1900), # 拇指指根弯曲 (0, 1200), # 拇指指尖弯曲 (0, 900), # 拇指侧摆 (0, 800), # 拇指旋转 (-200, 200), # 无名指侧摆 (0, 1200), # 无名指指尖弯曲 (0, 1500), # 无名指指根弯曲 (0, 1500), # 中指指根弯曲 (0, 1200), # 中指指尖弯曲 (0, 1500), # 小指根弯曲 (0, 1200), # 小指指尖弯曲 (-200, 200), # 小指侧摆 (-200, 200), # 中指侧摆 (-200, 200), # 食指侧摆 (0, 1500), # 食指指根弯曲 (0, 1200), # 食指指尖弯曲 (-1000, 1000),# 手腕俯仰

6.2 TOPIC说明

/cb_hand_setting_cmd # 设置扭矩、速度控制 /cb_{left|right}hand_control_cmd # 控制position list len 17 16手指电机+1手腕电机 /cb{left|right}hand_info # 显示温度、电流、电机故障码等数据 /cb{left|right}hand_matrix_touch # 五指指尖矩阵压感，12行6列 /cb{left|right}hand_matrix_touch_mass # 五指指尖矩阵压感和值 /cb{left|right}_hand_state # 电机状态 list len 17 16手指电机+1手腕电机

6.3 TOPIC数据结构

$ ros2 topic echo /cb_hand_setting_cmd -f
data: '{"setting_cmd": "set_speed", "params": {"hand_type": "right", "speed": [32767, 32767, 32767, 32767, 32767, 32767, 32767, 32767, 32767, 32767, 32767, 32767, 32767, 32767, 32767, 32767, 32767]}}'
$ ros2 topic echo /cb_right_hand_info -f
data: '{"torques": [32, 0, 28, 40, 36, 28, 36, 28, 28, 28, 28, 32, 32, 32, 0, 32, 44], "temperatures": [45, 45, 43, 46, 44, 42, 44, 42, 46, 44, 45, 48, 45, 44, 42, 44, 42], "currents": null, "stamp": {"secs": 1776678491, "nsecs": 243660021}}'
$ ros2 topic echo /cb_right_hand_control_cmd --flow-style
header:
  stamp:
    sec: 1776678323
    nanosec: 901946398
  frame_id: ''
name: [thumb_cmc_pitch, thumb_ip_pitch, thumb_cmc_yaw, thumb_cmc_roll, ring_mcp_roll, ring_pip_pitch, ring_mcp_pitch, middle_mcp_pitch, middle_pip_pitch, pinky_mcp_pitch, pinky_pip_pitch, pinky_mcp_roll, middle_mcp_roll, index_mcp_roll, index_mcp_pitch, index_pip_pitch, wrist_pitch]
position: [175.0, 1.0, 187.0, 0.0, 0.0, 2.0, 0.0, 8.0, 3.0, 8.0, 12.0, -3.0, 0.0, 1.0, 11.0, 10.0, 137.0]
velocity: [32767.0, 32767.0, 32767.0, 32767.0, 32767.0, 32767.0, 32767.0, 32767.0, 32767.0, 32767.0, 32767.0, 32767.0, 32767.0, 32767.0, 32767.0, 32767.0, 32767.0]
effort: []
---
$ ros2 topic echo /cb_right_hand_matrix_touch -f
data: '{"thumb_matrix": [[0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 0]], "index_matrix": [[0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 0]], "middle_matrix": [[0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 0], [0, 0, 1, 0, 0, 0], [0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 0]], "ring_matrix": [[0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 0]], "little_matrix": [[0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 0], [0, 0, 0, 6, 0, 0], [0, 0, 0, 1, 1, 0], [0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 0], [0, 0, 0, 0, 0, 0]], "stamp": {"secs": 1776678587, "nsecs": 562649939}}'
$ ros2 topic echo /cb_right_hand_matrix_touch_mass -f
data: '{"stamp": {"secs": 1776678632, "nsecs": 509134375}, "unit": "g", "thumb_mass": 0, "index_mass": 0, "middle_mass": 1, "ring_mass": 0, "little_mass": 8}'

7 左右双手使用

  • 将两个CANFD设备插入USB上。终端查看两个设备是否存在
$ lsusb
$ Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
$ Bus 001 Device 002: ID 048d:5702 Integrated Technology Express, Inc. RGB LED Controller
$ Bus 001 Device 003: ID a8fa:8598 Com Equipment CANFD Analyser
$ Bus 001 Device 004: ID 05e3:0608 Genesys Logic, Inc. Hub
$ Bus 001 Device 005: ID 8087:0aaa Intel Corp. Bluetooth 9460/9560 Jefferson Peak (JfP)
$ Bus 001 Device 006: ID a8fa:8598 Com Equipment CANFD Analyser
$ Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
# 可以看到两个CANFD设备
  • 查看CANFD设备详细信息
$ lsusb -v -d a8fa:8598
Bus 001 Device 003: ID a8fa:8598 Com Equipment CANFD Analyser
Device Descriptor:
  bLength                18
  bDescriptorType         1
  bcdUSB               2.00
  bDeviceClass            0 [unknown]
  bDeviceSubClass         0 [unknown]
  bDeviceProtocol         0
  bMaxPacketSize0        64
  idVendor           0xa8fa Com Equipment
  idProduct          0x8598 CANFD Analyser
  bcdDevice            3.00
  iManufacturer           1 Com Equipment
  iProduct                2 CANFD Analyser
  iSerial                 3 F0802061329D3641
......
Bus 001 Device 006: ID a8fa:8598 Com Equipment CANFD Analyser
Couldn't open device, some information will be missing
Device Descriptor:
  bLength                18
  bDescriptorType         1
  bcdUSB               2.00
  bDeviceClass            0 [unknown]
  bDeviceSubClass         0 [unknown]
  bDeviceProtocol         0
  bMaxPacketSize0        64
  idVendor           0xa8fa Com Equipment
  idProduct          0x8598 CANFD Analyser
  bcdDevice            3.00
  iManufacturer           1 Com Equipment
  iProduct                2 CANFD Analyser
  iSerial                 3 F080205B34AB4B31
# 可以查看到两个CANFD的iSerial序列号
  • 修改99-double-canfd.rules
# 设备 1 (F0802061329D3641) 左手
SUBSYSTEM=="usb", ATTRS{idVendor}=="a8fa", ATTRS{idProduct}=="8598", ATTRS{serial}=="左手iSerial序列号", MODE="0666", GROUP="plugdev", SYMLINK+="L30_LEFT"

# 设备 2 (F080205B34AB4B31) 右手
SUBSYSTEM=="usb", ATTRS{idVendor}=="a8fa", ATTRS{idProduct}=="8598", ATTRS{serial}=="右手iSerial序列号", MODE="0666", GROUP="plugdev", SYMLINK+="L30_RIGHT"
  • 将99-double-canfd.rules复制到/etc/udev/rules.d/目录
$ sudo cp 99-double-canfd.rules /etc/udev/rules.d/99-double-canfd.rules
$ sudo udevadm control --reload-rules
$ sudo udevadm trigger
  • 查看是否配置成功
$ ls /dev
# 查看是否有L30_LEFT和L30_RIGHT
  • 修改src/linker_hand_l30_v6/launch/linker_hand_l30_v6_double.launch.py文件，按照文件内参数说明进行修改

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Linkerhand L30 SDK

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v2.0.1 Latest
Apr 17, 2026
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