Setup Guide for Robotis Hand

This guide will walk you through the process of setting up your ROBOTIS Hand hardware and software environment.

Hardware Setup

Hardware Requirements

Required Hardware	Qty	Description	Link
HX5-D20	1	ROBOTIS Hand	Link
U2D2	1	U2D2 is a small size USB communication converter that enables to control and to operate the DYNAMIXEL with the PC	Link
SMPS	1	Power supply and battery charging device (RECOMMENDED 24V)
U2D2 Power Hub	1	The U2D2 Power Hub Board combines with the U2D2 to supply a variety of external power sources to DYNAMIXELs	Link
4-pin Robot Cable	2	The RS-485 communication 4p cable set for DYNAMIXEL	Link

* Additional items shown sold separately.

Hardware Connection

Software Setup

Prerequisites

• Operating System: Any Linux distribution
  
  • The container runs Ubuntu 24.04 (ROS 2 Jazzy)
• Container Engine: Docker Engine
  • Follow the official Docker installation guide
  • Complete the post-installation steps
  • Required steps:
    1. Install Docker Engine using the repository method
    2. Add your user to the docker group
    3. Enable Docker to start on boot
    4. Verify installation with docker run hello-world
• Version Control: Git

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Configuration

Docker Volume Management

The Docker container uses the following volume mappings for data persistence and hardware access:

volumes:
  # Hardware and System Access
  - /dev:/dev                                   # Hardware device access
  - /tmp/.X11-unix:/tmp/.X11-unix:rw            # X11 display
  - /tmp/.docker.xauth:/tmp/.docker.xauth:rw    # X11 authentication

  # Development and Data Storage
  - ./workspace:/workspace                      # Main workspace directory
  - ../:/root/ros2_ws/src/robotis_hand/         # ROBOTIS Hand source code

⚠️ Important: Data Persistence

• Container data is volatile and will be lost when the container is removed
• Always store important data in the mapped volumes:
  1. Use /workspace for development files
  2. Save model outputs to the mapped output directory
  3. Keep source code changes in the mapped volumes

Container Management

1. Initial Setup

   # Clone the repository
   cd ~/  # or your preferred directory
   git clone -b jazzy https://github.com/ROBOTIS-GIT/robotis_hand.git
   cd robotis_hand

2. Container Operations

   # Start container
   ./docker/container.sh start
   
   # Enter running container
   ./docker/container.sh enter
   
   # Stop container
   ./docker/container.sh stop

Docker Command Guide

The container.sh script provides easy container management:

Available Commands

• help: Display help message
• start: Start container
• enter: Enter running container
• stop: Stop container

Usage Examples

./container.sh help                 # Show help
./container.sh start                # Start container
./container.sh enter                # Enter container
./container.sh stop                 # Stop container