# s6h4d_sdk

**Repository Path**: wxnlP/s6h4d_sdk

## Basic Information

- **Project Name**: s6h4d_sdk
- **Description**: s6h4d机械臂的C++ SDK，不依赖ROS框架。
- **Primary Language**: C++
- **License**: Apache-2.0
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2025-09-12
- **Last Updated**: 2025-09-12

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

![](https://tonmoon.obs.cn-east-3.myhuaweicloud.com/img/tonmoon/5b3e8e7458ebe0ff134f3e1d0bcf5fc2.jpg)


## ROS2 示例

```
# 安装依赖

sudo apt install ros-humble-serial-driver

```

```
# 指令
# --- 0x11 --- 0x12 --- 0x21 --- 0x31 --- 0x44 ---
#   夹爪控制  关节角度控制 混合控制 单关节控制  完整控制  

ros2 topic pub --once /s6h4d/joint_angle_ctrl s6h4d_msgs/msg/S6h4dJointAngle "{cmd: 0x31, joint_index: 5, angle: [0.0, 0.0, 105.0, 0.0, 0.0, 0.0], vel: [20.0, 20.0, 20.0, 20.0, 20.0, 20.0], accel: [2.0, 2.0, 2.0, 2.0, 2.0, 2.0], paw: 0}"

```

```
# 各关节稳定角度范围

J1  -140 ~ 180
J2  -60  ~ 100
J3   30  ~ 190
J4  -150 ~ 150
J5  -30  ~ 120
J6  -270 ~ 270

```