Download & Build pnd_ros2

git clone https://github.com/pndbotics/pnd_ros2.git
cd pnd_ros2
colcon build
source install/setup.bash

API Description

Use the ROS2 methods to subscribe or publish topics. Topic information is stored in structures defined by MSG. Common structures include:

Structure	Description
`_HandCmd_.msg`	Dexterous hand control
`_HandState_.msg`	Dexterous hand state
`_IMUState_.msg`	Adam IMU state
`_LowCmd_.msg`	Adam low-level control
`_LowState_.msg`	Adam low-level state
`_MotorCmd_.msg`	Adam motor command
`_MotorState_.msg`	Adam motor state

ROS2 Message Definitions

Outgoing message: lowcmd (desired body positions)

Field	Type	Dimension	Description
`motor_cmd`	`MotorCmd_`	*	Variable length^[1]
`reserve`	`unsigned long`	1	Reserved

[1] motor_cmd details: Length depends on robot model

Adam Pro: 31 actuator dimensions
Adam Standard: 29 actuator dimensions
Adam Lite: 23 actuator dimensions

Subscribed message: lowstate (actual body state)

Field	Type	Dimension	Description
`imu_state`	`IMUState_`	9	IMU data
`motor_state`	`MotorState_`	*	Variable length^[1]
`wireless_remote`	`short`	40	Fixed length^[2]
`reserve`	`unsigned long`	1	Reserved

[1] motor_state details: Length depends on robot model

Adam Pro: 31 actuator dimensions
Adam Standard: 29 actuator dimensions
Adam Lite: 23 actuator dimensions

[2] wireless_remote details: Index 20–40 unused; 0–19 correspond to controller buttons: "lx", "ly", "rx", "ry", "lt", "rt", "xx", "yy", "a", "b", "x", "y", "lb", "rb", "back", "start", "home", "lo", "ro"

Outgoing message: handcmd (desired finger positions)

Field	Type	Dimension	Description
`position`	`unsigned long`	12	Desired hand positions
`reserve`	`unsigned long`	1	Reserved

Subscribed message: handstate (actual finger positions)

Field	Type	Dimension	Description
`position`	`unsigned long`	12	Actual hand positions
`reserve`	`unsigned long`	1	Reserved

IMU Data Type: IMUState_

Field	Type	Dimension	Description
`quaternion`	`float`	4	Quaternion
`gyroscope`	`float`	3	Angular velocity
`accelerometer`	`float`	3	Acceleration
`ypr`	`float`	3	Yaw-Pitch-Roll
`temperature`	`short`	3	Temperature

Single motor data type: MotorCmd_

Field	Type	Description
`mode`	`octet`	Mode (0)
`q`	`float`	Position
`dq`	`float`	Velocity
`tau`	`float`	Torque
`kp`	`float`	Stiffness
`kd`	`float`	Damping
`reserve`	`unsigned long`	Reserved

Single motor data type: MotorState_

Field	Type	Description
`mode`	`octet`	Mode (0)
`q`	`float`	Position
`dq`	`float`	Velocity
`ddq`	`float`	Acceleration
`tau_est`	`float`	Estimated torque
`state`	`unsigned long`	Current state
`reserve`	`unsigned long`	Reserved