Package Summary

Tags No category tags.
Version 2.1.1
License GPL-3.0-or-later
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/SCHUNK-GmbH-Co-KG/schunk_svh_ros_driver.git
VCS Type git
VCS Version ros2-humble
Last Updated 2023-04-12
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

ROS2-control system interface for the Schunk SVH

Additional Links

No additional links.

Maintainers

  • Stefan Scherzinger
  • Harry Arnst

Authors

No additional authors.

Schunk SVH ROS2 Driver

This is the core component of the driver. It's implemented as a ROS2-control system_interface and is parameterized via the SVH's URDF representation. Tips and tricks for ROS2 control and its mechanisms can be found here.

CHANGELOG

Changelog for package schunk_svh_driver

2.1.1 (2023-01-02)

  • Unify version numbers The version convention is as follows: [0.1.x]{.title-ref} for ROS1 Melodic and Noetic [2.0.x]{.title-ref} for ROS2 Foxy [2.1.x]{.title-ref} for ROS2 Humble We start with [2.1.0]{.title-ref} and bumb that with bloom to [2.1.1]{.title-ref} for the first release.
  • Fix integration test
  • Fix compiler warnings
  • Adapt to ROS2-control\'s API changes That\'s mostly a straight-forward mapping from the current interface methods. However, we don\'t make use of all of the new lifecycle-related functionality yet. See #19.
  • Update dependencies
  • Add missing execution dependencies We need those for our current, minimal setup.
  • Update maintainer info Let\'s keep the list short for now.
  • Merge branch \'update-license-ros2\' into \'ros2-foxy-devel\' Switch license to GPLv3 See merge request ros/schunk_svh_driver!24
  • Add license notice to all development files The text is in accordance with the recommendations from here in the section The license notices.
  • 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](https://www.gnu.org/licenses/gpl-howto.html)
  • Remove debug comment from launch file
  • Update the driver\'s sup package readme
  • Fix build warnings about unused parameters
  • Merge branch \'improve-test-gui\' into \'ros2-foxy-devel\' Improve test gui See merge request ros/schunk_svh_driver!22
  • Improve the gui layout The sliders are now horizontally arranged and labeled. Also increase the trajectory speed.
  • Add a slider for each individual joint This allows to test if each joint behaves as expected.
  • Merge branch \'meta-package\' into \'ros2-foxy-devel\' Make this a meta package See merge request ros/schunk_svh_driver!21
  • Add execution dependency for the description package
  • Prepare making this a meta repository We\'ll integrate the [schunk_svh_description]{.title-ref} into this package.
  • Contributors: Stefan Scherzinger

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged schunk_svh_driver at answers.ros.org

Package Summary

Tags No category tags.
Version 0.1.2
License GPL-3.0-or-later
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/SCHUNK-GmbH-Co-KG/schunk_svh_ros_driver.git
VCS Type git
VCS Version main
Last Updated 2023-04-12
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

ROS1 driver for the Schunk SVH five finger hand

Additional Links

Maintainers

  • Stefan Scherzinger
  • Harry Arnst

Authors

  • Georg Heppner
  • Felix Exner
  • Pascal Becker
  • Johannes Mangler

Schunk SVH Driver

The core package for the ROS1 driver. See the high-level instructions for getting started.

Implementation details

CHANGELOG

Changelog for package schunk_svh_driver

0.1.2 (2023-01-05)

0.1.1 (2022-12-20)

  • Update the plugin to mimic joints The new plugin is now maintained here. Also add suitable [PID]{.title-ref} gains for the mimicked joints.
  • Add [PID]{.title-ref} gains for Gazebo We now have stable joint position control.
  • Use a gazebo-specific controllers file We\'ll probably need a specifically tweaked set of [PID]{.title-ref} gains for Gazebo. The default position controllers are not stable.
  • Add a minimal Gazebo example
  • Remove unused launch parameters
  • Add missing install for the dynamic parameter test
  • Remove unused simulation parameter from launch That\'s no longer supported.
  • Add [joint_state_controller]{.title-ref} as run dependency
  • Run-depend on [joint_trajectory_controller]{.title-ref} We need this thing for joint actuation in the examples.
  • Merge branch \'fix-license-typo\' into \'update-and-upgrade\' Fix typo in license notice See merge request ros/schunk_svh_driver!26
  • Fix typo in license notice
  • Merge branch \'update-license-ros1\' into \'update-and-upgrade\' Switch license to the GPLv3 See merge request ros/schunk_svh_driver!23
  • Apply clang-format through pre-commit hook
  • Add license notice to all development files The text is in accordance with the recommendations from here in the section The license notices.
  • Remove old license texts
  • Update SPDX license indicator in package.xml This is according to here.
  • Support left and right hands through launch parameters We now load the correct ROS-control configuration depending on whether users start a [right_hand]{.title-ref} or a [left_hand]{.title-ref}. This is also passed to the URDF robot description.
  • Update top-level readme Also add lightweight readmes for each sub package.
  • Merge branch \'meta-package\' into \'update-and-upgrade\' Meta package See merge request ros/schunk_svh_driver!20
  • Fix installs
  • Use the new [schunk_svh_msgs]{.title-ref} package
  • Start making this a meta package We move everything into an equally called sub package. This should maintain our Git history.
  • Contributors: Stefan Scherzinger

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • launch/svh_ros_control_standalone.launch
      • name_prefix [default: right_hand]
      • autostart [default: True]
      • serial_device [default: /dev/ttyUSB0]
      • maximal_force [default: 0.9]
      • trajectory_controller_name [default: $(arg name_prefix)_controller]
      • debug [default: False]
  • launch/svh_ros_control_controllers.launch
      • trajectory_controller_name
      • name_prefix [default: right_hand]
  • launch/dynamic_parameter_test.launch
      • controller_config [default: $(find schunk_svh_driver)/etc/controller_default.yaml]
  • launch/svh_ros_control_hw_interface.launch
      • autostart [default: true]
      • serial_device [default: /dev/ttyUSB0]
      • controller_config [default: $(find schunk_svh_driver)/etc/controller_user.yaml]
      • general_config [default: $(find schunk_svh_driver)/etc/svh.yaml]
      • name_prefix [default: left_hand]
      • maximal_force [default: 0.9]
      • debug [default: False]

Messages

No message files found.

Services

No service files found

Recent questions tagged schunk_svh_driver at answers.ros.org

Package Summary

Tags No category tags.
Version 2.0.1
License GPL-3.0-or-later
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/SCHUNK-GmbH-Co-KG/schunk_svh_ros_driver.git
VCS Type git
VCS Version ros2-foxy
Last Updated 2023-04-12
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

ROS2-control system interface for the Schunk SVH

Additional Links

No additional links.

Maintainers

  • Stefan Scherzinger
  • Harry Arnst

Authors

No additional authors.

Schunk SVH ROS2 Driver

This is the core component of the driver. It's implemented as a ROS2-control system_interface and is parameterized via the SVH's URDF representation. Tips and tricks for ROS2 control and its mechanisms can be found here.

CHANGELOG

Changelog for package schunk_svh_driver

2.0.1 (2023-01-02)

  • Unify version numbers The version convention is as follows: [0.1.x]{.title-ref} for ROS1 Melodic and Noetic [2.0.x]{.title-ref} for ROS2 Foxy [2.1.x]{.title-ref} for ROS2 Humble We start with [2.0.0]{.title-ref} and bumb that with bloom to [2.0.1]{.title-ref} for the first release.
  • Add missing execution dependencies We need those for our current, minimal setup.
  • Update maintainer info Let\'s keep the list short for now.
  • Merge branch \'update-license-ros2\' into \'ros2-foxy-devel\' Switch license to GPLv3 See merge request ros/schunk_svh_driver!24
  • Add license notice to all development files The text is in accordance with the recommendations from here in the section The license notices.
  • 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
  • Remove debug comment from launch file
  • Update the driver\'s sup package readme
  • Fix build warnings about unused parameters
  • Merge branch \'improve-test-gui\' into \'ros2-foxy-devel\' Improve test gui See merge request ros/schunk_svh_driver!22
  • Improve the gui layout The sliders are now horizontally arranged and labeled. Also increase the trajectory speed.
  • Add a slider for each individual joint This allows to test if each joint behaves as expected.
  • Merge branch \'meta-package\' into \'ros2-foxy-devel\' Make this a meta package See merge request ros/schunk_svh_driver!21
  • Add execution dependency for the description package
  • Prepare making this a meta repository We\'ll integrate the [schunk_svh_description]{.title-ref} into this package.
  • Contributors: Stefan Scherzinger

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged schunk_svh_driver at answers.ros.org

Package Summary

Tags No category tags.
Version 0.1.2
License GPL-3.0-or-later
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/SCHUNK-GmbH-Co-KG/schunk_svh_ros_driver.git
VCS Type git
VCS Version main
Last Updated 2023-04-12
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

ROS1 driver for the Schunk SVH five finger hand

Additional Links

Maintainers

  • Stefan Scherzinger
  • Harry Arnst

Authors

  • Georg Heppner
  • Felix Exner
  • Pascal Becker
  • Johannes Mangler

Schunk SVH Driver

The core package for the ROS1 driver. See the high-level instructions for getting started.

Implementation details

CHANGELOG

Changelog for package schunk_svh_driver

0.1.2 (2023-01-05)

0.1.1 (2022-12-20)

  • Update the plugin to mimic joints The new plugin is now maintained here. Also add suitable [PID]{.title-ref} gains for the mimicked joints.
  • Add [PID]{.title-ref} gains for Gazebo We now have stable joint position control.
  • Use a gazebo-specific controllers file We\'ll probably need a specifically tweaked set of [PID]{.title-ref} gains for Gazebo. The default position controllers are not stable.
  • Add a minimal Gazebo example
  • Remove unused launch parameters
  • Add missing install for the dynamic parameter test
  • Remove unused simulation parameter from launch That\'s no longer supported.
  • Add [joint_state_controller]{.title-ref} as run dependency
  • Run-depend on [joint_trajectory_controller]{.title-ref} We need this thing for joint actuation in the examples.
  • Merge branch \'fix-license-typo\' into \'update-and-upgrade\' Fix typo in license notice See merge request ros/schunk_svh_driver!26
  • Fix typo in license notice
  • Merge branch \'update-license-ros1\' into \'update-and-upgrade\' Switch license to the GPLv3 See merge request ros/schunk_svh_driver!23
  • Apply clang-format through pre-commit hook
  • Add license notice to all development files The text is in accordance with the recommendations from here in the section The license notices.
  • Remove old license texts
  • Update SPDX license indicator in package.xml This is according to here.
  • Support left and right hands through launch parameters We now load the correct ROS-control configuration depending on whether users start a [right_hand]{.title-ref} or a [left_hand]{.title-ref}. This is also passed to the URDF robot description.
  • Update top-level readme Also add lightweight readmes for each sub package.
  • Merge branch \'meta-package\' into \'update-and-upgrade\' Meta package See merge request ros/schunk_svh_driver!20
  • Fix installs
  • Use the new [schunk_svh_msgs]{.title-ref} package
  • Start making this a meta package We move everything into an equally called sub package. This should maintain our Git history.
  • Contributors: Stefan Scherzinger

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • launch/svh_ros_control_standalone.launch
      • name_prefix [default: right_hand]
      • autostart [default: True]
      • serial_device [default: /dev/ttyUSB0]
      • maximal_force [default: 0.9]
      • trajectory_controller_name [default: $(arg name_prefix)_controller]
      • debug [default: False]
  • launch/svh_ros_control_controllers.launch
      • trajectory_controller_name
      • name_prefix [default: right_hand]
  • launch/dynamic_parameter_test.launch
      • controller_config [default: $(find schunk_svh_driver)/etc/controller_default.yaml]
  • launch/svh_ros_control_hw_interface.launch
      • autostart [default: true]
      • serial_device [default: /dev/ttyUSB0]
      • controller_config [default: $(find schunk_svh_driver)/etc/controller_user.yaml]
      • general_config [default: $(find schunk_svh_driver)/etc/svh.yaml]
      • name_prefix [default: left_hand]
      • maximal_force [default: 0.9]
      • debug [default: False]

Messages

No message files found.

Services

No service files found

Recent questions tagged schunk_svh_driver at answers.ros.org