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.
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 installYou may also provide another install folder via -DCMAKE_INSTALL_PREFIX=.
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 $USERand restart your system. After that, you are good to go.
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