schunk_svh_driver
SVH Driver wrapper to enable control of the Schunk five finger hand
- Homepage: http://wiki.ros.org/schunk_svh_driver
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