++ Deprecation Notice ++

This repository has been split and refactured into two components:

• A plain C++ library: schunk_svh_library
• A ROS1/ROS2 wrapper: schunk_svh_ros_driver

It’s now significantly easier to build and use this driver in all mayor ROS1/ROS2 versions and in custom, non-ROS projects.

Please continue to open issues and pull requests there as usual.

Schunk SVH driver

This is the driver package for the SCHUNK SVH Five-Finger-Hand. It was developed on behalf of SCHUNK Mobile Greifsysteme GmbH, Lauffen/Neckar, Germany at the FZI Research Center for Information Technology in Karlsruhe, Germany.

The package contains the following core components:

• The low level hardware driver
• The ROS abstraction layer
• 3D model and kinematics description for visualization and grasp planning These main components are distributed under a LGPL license.

Furthermore this package contains a build system and two libraries that are not part of the SVH Driver but which are needed to build it:

• icmaker (BSD License)
• icl_core (LGPL License)
• icl_comm (LGPL License) These components were independently developed at the FZI Research Center for Information Technology in Karlsruhe, Germany.

Also included is the TinyXML Library which was developed by Lee Thomason (http://www.grinninglizard.com) and which ships unter the zlib/libpng license.

See license folder for the license texts.

Changelog for package schunk_svh_driver

0.2.0 (2017-04-25)

• Added hardware support for the 2nd hardware version of the Schunk SVH
• Added dynamic parameter switcher for automatically setting parameters
• Improved sine test with increased movement range, thumb movement and possibility to change the speed
• Extracted fzi_icl_core and fzi_icl_comm
• Fixed xacro warnings
• Contributors: Felix Mauch, Pascal Becker, Johannes Mangler

0.1.7 (2015-06-18)

• Added correct Reset of package counts
• Added Retry functionality for connection failures
• Added Readout of efforts
• Correctly use the given homing settings ( fixes #1 )
• Added safety warning for high current settings
• Added much debugging output for the reset routine
• Fixes of typos, comments and other minor things
• Rudimentary windows support for icl libs
• Removed icl_comm_websocket as it was not strictly needed for the ROSnode of the driver
• Added effort feedback
• Added channel current output
• Added retry option for the connect routine to make autostart more robust
• Added the TcoNoDelay transport hint
• Include name prefix for the channel names
• add collision meshes to URDF
• Removed parts that where actually from another project and did not belong into the SVH Driver package
• Added a name prefix for the hand to allow multiple instantiation of the hand model.
• Make hand member names dependent of hand name
• Added a mainpage.dox with an image and the corresponing rosdoc config
• Contributors: Andreas Hermann, Georg Heppner, Nils Berg, Steffen Ruehl

0.1.6 (2014-09-30)

• Added a mainpage.dox with an image and the corresponing rosdoc config
• Fixed xacro and run_demo to work with the new package structure
• Added a new node only launch script
• Contributors: Georg Heppner

0.1.5 (2014-09-29)

• Moved rviz config to etc and changed gui to a default no show
• Fixed a counting variable which was comparing signed with unsigned
• Changed the way to install udev rules to be a script for devel and a rosrun for install targets
• Enabled the svh_sin_test node by default as this is easier to start
• Changed the logging mechanism to use ~/.ros/log instead of the project folder as this is not writable in installs Also changed many default values and how the config values are read to provide better user experience
• Added a queue size to the topics published by the plugin as it is required by hydro
• Contributors: Georg Heppner

0.1.4 (2014-09-26)

• Removed preliminary tests that remained from development and where not meant to be published
• Contributors: Georg Heppner

0.1.3 (2014-09-26)

• Moved the widget gui to a resource folder as it is suggested by the rqt tutorials
• Changed the includes from using find scripts to use internally set variables to prevent failures in case of multiple icl workspace instances
• Added missing plugin.xml to install targets
• Renamed include dir to adhere to currect naming schema
• Added install directives for launch files, config files and headers, udev ruels, helper files and boilderplate needed for execution
• Disabled Rotation for log files
• Fixed install directives
• Contributors: Georg Heppner

0.1.2 (2014-09-26)

• Fixed install directives in CMake
• Contributors: Andreas Hermann

0.1.1 (2014-09-26)

• Made the launch file a little bit better to support simulation without standalone flag
• Updated the quick commands to contain speeds and efforts as this is required by the joint state publisher
• Added UDEV rules to the package
• Fixed package name
• Contributors: Andreas Hermann, Georg Heppner

0.1.0 (2014-09-25)

• First public release: Contains Low-Level Driver, 3D-Model and ROS-Node
• Contributors: Georg Heppner, Lars Pfotzer, Nils Berg, Andreas Hermann, Steffen Rühl

0.0.X (2014-08-01)

• Internal Development of Low-Level-Driver
• Contributors: Georg Heppner, Lars Pfotzer, Nils Berg, Andreas Hermann, Steffen Rühl