https://github.com/robotlocomotion/drake-schunk-driver
Driver software for the Schunk gripper.
https://github.com/robotlocomotion/drake-schunk-driver
Last synced: about 2 months ago
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Driver software for the Schunk gripper.
- Host: GitHub
- URL: https://github.com/robotlocomotion/drake-schunk-driver
- Owner: RobotLocomotion
- License: bsd-3-clause
- Created: 2016-09-01T00:38:23.000Z (almost 9 years ago)
- Default Branch: master
- Last Pushed: 2024-12-17T03:01:33.000Z (7 months ago)
- Last Synced: 2025-03-31T16:13:50.083Z (3 months ago)
- Language: C++
- Size: 82.3 MB
- Stars: 2
- Watchers: 44
- Forks: 8
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# drake-schunk-driver
Driver software for the Schunk gripper.
## Prereqs
This effectively requires the source prequisites of Drake. For using on
Ubuntu, you may need to do something like:
```sh
git clone -o upstream https://github.com/RobotLocomotion/drake -b v1.9.0
cd drake
sudo ./setup/ubuntu/install_prereqs.sh
```
## Building
To build:
```sh
bazel build //...
```
## Configuring the gripper
Under Settings -> Command Interface:
* Command Interface
* Interface: UDP/IP
* Enable CRC: Off
* UDP Settings
* UDP Client Address: 0.0.0.0
* UDP Listening Port: 1500
* UDP Remote Port: 1501
## Running the driver
`./bazel-bin/src/schunk_driver` -- this will expect the gripper to have the defualt IP (192.168.1.20) and ports (1500, 1501).
If the gripper configuration has been changed, the following arguments
can be useful:
* `--gripper-addr` Specifies the IP address of the gripper (default:
192.168.1.20)
* `--gripper_port` The UDP Listening Port on the gripper (default: 1500)
* `--local_port` The UDP Remote Port on the gripper (the local port
which the driver will use on the host machine) (default: 1501)