feat: sync dev with GUI overhaul, SDK 2.1.8, docs refresh - #2
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- Toolbar: place 型号 before 侧别, drop the manual 话题 input (topic is derived from side). - Model switch: skip feedback panel rebuild when touch shape is unchanged; only redraw the heatmap. Build slider pages lazily so non-active metric tabs cost nothing until first click. - Control panel: bind mouse wheel while the cursor is over the sliders canvas so the joint list scrolls. - Logo loader: look for the image under assets/ in both the installed share directory and the source-tree fallback (paired with the companion commit that relocates logo.png).
Relocate logo.png from the package root into assets/ to keep the root reserved for metadata files. CMakeLists installs the whole assets/ directory to share/, and the GUI loader (previous commit) already resolves the new path.
…sitions link - Sliders: replace ttk.Scale with a Canvas-based custom widget — thin line track and circular thumb, click/drag to jump; keep Spinbox coupling. - Layout: shrink top toolbar to 42px, drop the logo, vertically center controls; add a bottom bar that hosts the logo centered (with brand text fallback). Hide the standalone status row while keeping status_var and summary_var for internal state. - Control card: append a subtle right-aligned "复制位置值" link footer that copies current position values (\"255, 255, ...\") to the clipboard. - Combobox: clear text selection and drop focus after choosing to avoid the stuck blue-highlighted state; short-circuit apply_model when the requested model equals the current one to prevent redundant rebuilds.
- VERSION 2.1.7 → 2.1.8 in both run.xml and run_left.xml. - run.xml: enable LEFT by default (G20), disable RIGHT (L6); set HAND_SPEED/HAND_EFFORT defaults to 255; drop LEFT_CANBUS/RIGHT_CANBUS args and their CAN_CHANNEL passthrough so the node falls back to its own default (can0). - run_left.xml: switch single-hand launch to CAN/G20 to match the double-hand default; align HAND_SPEED/HAND_EFFORT to 255.
- Quick start: add SDK install step, SocketCAN bring-up commands, single package build tip, parameter override example, colcon test section. - Sync the launch XML snippet with the current defaults (LEFT=G20 enabled, RIGHT=L6 disabled, HAND_SPEED/HAND_EFFORT=255). - GUI section: rewrite to match the new interface (top model/side + live toggle, tabbed 位置/速度/力矩 sliders with line + circle style, right Spinbox, "复制位置" link, bottom logo). Insert screenshot from assets/. - Update changelog pointer to git log instead of the missing CHANGELOG.md.
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Summary
hand_control_gui: toolbar, sliders, layout/perf, copy-positions link, per-model defaultsassets/Test plan
colcon build --packages-select linker_hand_cpp_ros2ros2 launch linker_hand_cpp_ros2 run.xml双手启动无报错ros2 run linker_hand_cpp_ros2 hand_control_gui.pyGUI 正常