amazing_hand_ros2

ROS2 package that mirrors the original AmazingHand_Demo.py gestures and exposes:

• amazing_hand_node: subscribes to amazing_hand/command and drives the hardware.
• amazing_hand_keyboard: publishes commands from the keyboard and listens to amazing_hand/state.

Build

cd ~/AmazingHand
colcon build --packages-select amazing_hand_ros2
source install/setup.bash

Run the hardware node

ros2 run amazing_hand_ros2 amazing_hand_node \
  --ros-args \
    -p serial_port:=/dev/ttyACM0 \
    -p baudrate:=1000000 \
    -p timeout:=0.5 \
    -p side:=1

Keyboard mappings

Key	Command	Description
o	open	Open hand
c	close	Close hand
s	spread	Spread fingers
l	clench	Clench fist
i	index_point	Index pointing
n	nonono	Index wag
p	pinch	Pinched fingers
v	victory	Victory/peace
k	perfect	Perfect / OK
g	scissors	Scissors motion
m	middle_finger	Middle finger

Launch the keyboard node (in a terminal with the workspace sourced):

ros2 run amazing_hand_ros2 amazing_hand_keyboard

Press h for help or q to quit. Each key publishes the matching command to amazing_hand/command.