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:

git clone -o upstream https://github.com/RobotLocomotion/drake -b v1.9.0
cd drake
sudo ./setup/ubuntu/install_prereqs.sh

Building

To build:

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)