ContactGlove ROS2 SDK V2

This is the prebuilt distribution of ContactGlove ROS2 SDK V2 0.2.5. Supported platforms are Ubuntu 22.04 LTS / ROS 2 Humble / amd64 and Ubuntu 24.04 LTS / ROS 2 Jazzy / amd64. Use the distribution ZIP matching your OS and ROS 2 distribution.

Choose the package for this systemCopy Anchor Link

The ZIP contains three DEBs for the same ROS 2 distribution: bridge and msgs at the root, and the C++ runtime in lib/.

• To publish glove data, install all three: contactglove-ros2-bridge, contactglove-ros2-msgs, and contactglove-sdk-v2. The bridge provides the driver and visualization features; msgs provides contact_glove_msgs. DivingStation is required on the publishing system.
• To subscribe on a separate PC or container, install only contactglove-ros2-msgs. DivingStation and the C++ runtime are unnecessary there. Do not source the ZIP's install/ directory on this system.

Bridge and msgs now own separate files and are installed together on the publishing system. Use the explicit commands in the user manual: apt does not automatically find adjacent local DEBs, including the runtime in lib/.

To use the bridge without installing it system-wide, source the ZIP's install/ directory instead of installing the bridge DEB. This method still requires the C++ runtime. Use the standalone messages DEB for a subscriber-only system.

See the user manual for installation instructions.

DocumentationCopy Anchor Link

• User Manual: requirements, installation, operation, visualization, and troubleshooting.
• API reference: topics, messages, services, parameters, QoS, coordinate systems, TF, and launch arguments.

Distribution ZIP contentsCopy Anchor Link

• contactglove-ros2-bridge_*.deb: Driver and visualization features; depends on the same-version msgs DEB and C++ runtime.
• contactglove-ros2-msgs_*.deb: Standalone interfaces for subscriber systems.
• install/: Combined bridge and messages ROS 2 packages for use by sourcing.
• lib/: ContactGlove C++/C/Rust SDK V2 runtime DEB for the bridge.
• scripts/: C++ runtime installation helper.
• LICENSE.md, NOTICE.md, THIRD_PARTY_NOTICES.md: License and attribution documents.

LicenseCopy Anchor Link

ContactGlove ROS2 SDK V2 code and documentation are licensed under Apache-2.0. Third-party components retain their own license terms. License documents are at the distribution ZIP root and in each ROS 2 package's documentation directory after DEB installation.

ContactCopy Anchor Link

For questions or bug reports about this SDK, use the contact form.