Schunk SVH Library

This is a standalone C++ library to control the Schunk SVH 5-finger hand. It provides a hardware abstraction for driver development. Users can develop custom wrappers on top in their preferred robotics framework.

Installation

Note: Switch to these instructions when working in a ROS1/ROS2 context.

Start an out of source build in the parent folder of this package with

mkdir build && cd build
cmake ../driver_svh/ -DCMAKE_INSTALL_PREFIX=../install
cmake --build .
make install

You may also provide another install folder via -DCMAKE_INSTALL_PREFIX=.

Connection to the SVH

This driver library uses a serial interface to communicate with the SVH. We assume that you use a suitable usb-serial dongle and that the dongle’s driver provides a /dev/ttyUSB0 file for communication with the hardware. Recent Ubuntu operating systems should support that out-of-the-box. However, it will be necessary to add your user to the dialout group to speak with that device file without sudo privileges. Call

usermod -a -G dialout $USER

and restart your system. After that, you are good to go.

Running tests manually

We currently use the Boost test framework. You can run the tests manually on the command line with

make CTEST_OUTPUT_ON_FAILURE=1 test

Changelog for package schunk_svh_library

1.0.1 (2022-12-20)

• Fix Errno 22 [invalid argument]{.title-ref} for reading serial devices on ARM PCs This fixes an unsafe cast in [select]{.title-ref}'s timeout parameter, which somehow only seemed to cause issues on a recent Raspberry Pi 4.
• Add CI for ROS2 Foxy and Humble
• Add license badge to the top-level readme That's easier for users to see.
• Fix workflows' file extension
• Merge pull request #1 from fzi-forschungszentrum-informatik/add-github-ci Add GitHub ci
• Add build badges to top-level readme
• Activate CI for ROS Melodic and Noetic
• Merge branch 'fix-hardware-unit-test' into 'master' Outcomment hardware-dependend unit test See merge request hardware-drivers/schunk_svh_library!33
• Outcomment hardware-dependend unit test
• Merge branch 'update-maintainer' into 'master' Update maintainer See merge request hardware-drivers/schunk_svh_library!32
• Update maintainer
• Merge branch 'update-license' into 'master' Switch to GPLv3 license See merge request hardware-drivers/schunk_svh_library!31
• Fix typo in license notice
• Add license notice to all development files The text is in accordance with the recommendations from here in the section The license notices.
• Add license notice for convenience Putting this language-specific summary in a separate folder is according to the ROS developers suggestions: http://wiki.ros.org/DevelopersGuide
• Update SPDX license indicator in package.xml This is according to here.
• Add license text for the GPLv3 The license text is from here after following the recommendations from here.
• Added downstream workspaces
• Fixed library exports
• Export LIBRARIES and INCLUDE_DIRS This is important for legacy cmake systems such as catkin
• Use needs instead of dependencies
• Merge branch 'update-and-upgrade' into 'master' Make this a standalone library for driver development Closes #11 See merge request hardware-drivers/schunk_svh_library!25
• Contributors: Felix Exner, Stefan Scherzinger