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Schunk SVH Hardware Interface

Schunk SVH Hardware Interface

The Schunk SVH Robot Driver package provides a hardware interface for controlling the Schunk SVH Hand with ROS Control. It includes both configuration and launch files, as well as a C++ API to facilitate hardware interaction.

ROS Control

The schunk_svh_hardware_interface package integrates with ROS Control to support the following functionalities:

  • Position Command: Allows sending position commands to the actuators.

  • Position State: Provides feedback on the current joint positions.

  • Velocity State: Provides feedback on the current joint velocities.

Dependencies

  • roscontrol: The package is built on roscontrol and requires a working ROS installation.

  • Schunk SVH API: The driver is based on the Schunk SVH API library. Add this package to your workspace as a source checkout using vcs.

  • schunksvhdescription: Robot description Add this package to your workspace as a source checkout using vcs.

  • ddynamicreconfigure: The driver uses RQT reconfigure to tune low level controller parameters. These are exposed via ddynamicreconfigure.

Installation

Follow Colcon instructions for colcon package installation.

For setting up the UDEV rules for the Serial interface, see the Schunk SVH API documentation.

Example usage

For right hand: roslaunch schunk_svh_hardware_interface schunk_svh.launch