Schunk SVH Simulation

This package provides a minimalist simulation environment with Gazebo. You can use it as an example to get to know the ROS-control based workflow for the SVH and also as a starting point for your more complex simulation setup.

Install dependencies

The Schunk SVH has several joints that are coupled to the motion of the primary 9 DOF. In the URDF specification, these joints basically mimic their reference joints with a special multiplier. We use this very handy plugin to achieve this in Gazebo. It's not yet released to the latest ROS distros, so that you need to install that from source: Inside the src folder of your ROS workspace, call

git clone https://github.com/roboticsgroup/roboticsgroup_upatras_gazebo_plugins.git

and build your workspace normally. You'll then have the libroboticsgroup_upatras_gazebo_mimic_joint_plugin.so available that's used in the SVH's xacro definition.

Getting started

In a sourced terminal, run

roslaunch schunk_svh_simulation svh_gazebo_standalone.launch

This will bring up an empty Gazebo world with the Schunk SVH (left hand). You can now use ROS-control and the rqt_joint_trajectory_controller to move individual joints: Inside rqt, navigate to Plugins -> Robot Tools -> Joint trajectory controller and move the joints with sliders. You might need to install that plugin first with

sudo apt install ros-$ROS_DISTRO-rqt-joint-trajectory-controller

since that's not part of the default ROS Desktop installation.

Changelog for package schunk_svh_simulation

0.1.2 (2023-01-05)

• Correctly depend on [schunk_svh_description]{.title-ref} We only need that as an execution dependency.
• Contributors: Stefan Scherzinger

0.1.1 (2022-12-20)

• Merge pull request #18 from fzi-forschungszentrum-informatik/add-gazebo-example Add an example setup for Gazebo
• Add a readme for the simulation
• Add a dedicated simulation package That\'s cleaner and keeps Gazebo simulation specific configuration separate from the actual driver.
• Contributors: Stefan Scherzinger