Schunk SVH ROS2 Driver

This is the repository for the Schunk SVH ROS2 driver. It completes the standalone library with everything that you need to operate the five finger hand in a ROS2 context.

Installation

Inside the src folder of your ROS2 workspace, get the relevant packages

git clone https://github.com/SCHUNK-SE-Co-KG/schunk_svh_ros_driver.git
git clone https://github.com/SCHUNK-SE-Co-KG/schunk_svh_library.git
rosdep install --ignore-src --from-paths ./ -y -r

You can then navigate back (cd ..) and build everything in the root of your ROS2 workspace with

colcon build  --packages-ignore schunk_svh_simulation

Connection to the SVH

There are a few minimal steps required before you can connect to the SVH for the first time. You'll find them here.

Getting started

In every fresh terminal, source the setup scripts in the following order

source /opt/ros/humble/setup.bash
source install/local_setup.bash

where install is the local folder within your ROS2 workspace. Now, run

ros2 launch schunk_svh_driver schunk_svh_driver.launch.py control:=left_hand

if you have a left Schunk SVH hand, else omit the control parameter. The default is control:=right_hand. This will start initializing the SVH. After calibrating each degree of freedom separately, the SVH is ready to use.

The driver starts with an active joint_trajectory_controller for commanding all joints in a synchronized way. You can send trajectory goals to its action server for controlling groups of joints.

An easy example is provided with the schunk_svh_driver/scripts/example.py script. Call that in a sourced terminal and you can move individual fingers with sliders in a minimalistic GUI.

Simulation

There's a MuJoCo-based simulation environment for controller development and testing.

Setup on a Raspberry Pi

Here's a step-by-step tutorial of how to setup the Schunk SVH ROS2 driver on a Raspberry Pi 4.