SVH Driver wrapper to enable control of the Schunk five finger hand
This node containts the code for the node itself and the library used for communication with the svh which is calles driver_svh. The driver depends on the core libraries developed by the FZI and used in many projects. These are:
- icl_core This library provides basic functionalities like threads or data types that are system independent but also many other features. We mainly use the logging framework of it
- icl_comm The library handles everything to do with communication. It provides the wrapper for a serial device as well as the endianess conversion in case the software runs on strange architectures
- tinyxml This third party library is used by the icl_core to parse xml files
The following image should give you a rough overview of the principles behind the driver_svh library. Please see the doxygen page of the individual files and classes for more specific information.
Structure of the SVH library