LinkerHand-CPP-SDK

概述

LinkerHand-CPP-SDK 是由灵心巧手（北京）科技有限公司开发，用于 L7、L10、L20、L21、L25 型号灵巧手的驱动软件和 Demo 示例。

安装

• 下载 SDK

git clone https://github.com/linkerbotai/linker_hand_cpp_sdk.git

• 启动脚本

cd linker_hand_cpp_sdk/linker_hand
./script.sh

• 运行示例

cd build
./linker_hand_example

快速开始

• 创建 main.cpp 文件，并添加以下代码：

// main.cpp
#include "LinkerHandApi.h"

int main() {

    // 调用API接口
    LinkerHandApi hand(LINKER_HAND::L10, HAND_TYPE::RIGHT);

    // 获取版本信息
    std::cout << hand.getVersion() << std::endl;

    // 握拳
    std::vector<uint8_t> fist_pose = {101, 60, 0, 0, 0, 0, 255, 255, 255, 51};
    hand.fingerMove(fist_pose);
    std::this_thread::sleep_for(std::chrono::seconds(1));

    // 张开
    std::vector<uint8_t> open_pose = {255, 104, 255, 255, 255, 255, 255, 255, 255, 71};
    hand.fingerMove(open_pose);
    std::this_thread::sleep_for(std::chrono::seconds(1));

    return 0;
}

• 创建 CMakeLists.txt 文件，并添加以下配置：

# CMakeLists.txt
cmake_minimum_required(VERSION 3.5)
project(MyProject)

# 查找 LINKER_HAND_LIB 库
find_library(LINKER_HAND_LIB
    NAMES linker_hand_lib
    PATHS /usr/local/linker_hand_cpp_sdk/lib
    NO_DEFAULT_PATH
)

# 查找 RMAN_API_LIB 库
find_library(RMAN_API_LIB
    NAMES api_cpp
    PATHS /usr/local/linker_hand_cpp_sdk/third_party/Robotic_Arm/lib
    NO_DEFAULT_PATH
)

# 包含目录
include_directories(
	include
	/usr/local/linker_hand_cpp_sdk/include
	/usr/local/linker_hand_cpp_sdk/third_party/Robotic_Arm/include
)

# 添加可执行文件
add_executable(my_project main.cpp)

# 链接库
target_link_libraries(my_project ${LINKER_HAND_LIB} ${RMAN_API_LIB} pthread)

• 文件结构

├── example
│   ├── CMakeLists.txt
│   └── main.cpp

• 编译

cd example
mkdir build
cd build
cmake ..
make

• 运行

./my_project

• position 与手指关节对照表

L7:  ["大拇指弯曲", "大拇指横摆","食指弯曲", "中指弯曲", "无名指弯曲","小拇指弯曲","拇指旋转"]

L10: ["拇指根部", "拇指侧摆","食指根部", "中指根部", "无名指根部","小指根部","食指侧摆","无名指侧摆","小指侧摆","拇指旋转"]

L20: ["拇指根部", "食指根部", "中指根部", "无名指根部","小指根部","拇指侧摆","食指侧摆","中指侧摆","无名指侧摆","小指侧摆","拇指横摆","预留","预留","预留","预留","拇指尖部","食指末端","中指末端","无名指末端","小指末端"]

L21: ["大拇指根部", "食指根部", "中指根部","无名指根部","小拇指根部","大拇指侧摆","食指侧摆","中指侧摆","无名指侧摆","小拇指侧摆","大拇指横滚","预留","预留","预留","预留","大拇指中部","预留","预留","预留","预留","大拇指指尖","食指指尖","中指指尖","无名指指尖","小拇指指尖"]

L25: ["大拇指根部", "食指根部", "中指根部","无名指根部","小拇指根部","大拇指侧摆","食指侧摆","中指侧摆","无名指侧摆","小拇指侧摆","大拇指横滚","预留","预留","预留","预留","大拇指中部","食指中部","中指中部","无名指中部","小拇指中部","大拇指指尖","食指指尖","中指指尖","无名指指尖","小拇指指尖"]

示例

序号	文件名称	描述
1	Examples	示例集合（支持 L7、L10、L20、L21、L25 灵巧手）
2	ModbusRTU	仅支持 L10 型号灵巧手（四代睿尔曼臂）

API 文档

• C++ API 文档

版本更新