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Schunk Driving

The Schunk power cable is a little barrel jack behind the robot. Plug it in when you start, unplug it at the end of the day.

The Schunk control page lives at http://192.170.10.20/ (or whatever the IP of your schunk is). Note the super-useful status panel at the right. If you find that you can't control it, pressing "STOP" and then "ACK" might help.

To control the Schunk from code, your best bet is to use spartan/modules/spartan/manipulation/schunk_driver.py. Import and use it in a Python ROS node, and you should be good to go.

Some misc notes about wsg50-ros-pkg

The actual gripper driver is a submodule at spartan/src/catkin_projects/wsg50-ros-pkg. It has a complicated history (it's a spartan-specific fork of the Xamla fork of the nalt WSG50 driver, which itself forks a Robotnik WSG50 ROS driver. In reverse order:

  • The nalt driver offers reasonable and reliable position control of the driver with continuous state reporting but does not allow on-the-fly max-force-setpoint control.
  • The Xamla driver adds continuous max-force-setpoint control and formalizes the driver into two actionlib interfaces: /wsg50_driver/wsg50/gripper_command (GripperStandardActionServer, with commands of type control_msgs::GripperCommandActionGoal) and /wsg50_driver/wsg50/gripper_control (GripperActionServer, with commands of type wsg_50_common::Command).
  • The RLG fork removes some of the Xamla-company-specific stuff, like a Xamla-specific heartbeat message, so that it builds in our ecosystem.

The Python Schunk control module does not use the actionlib interface, instead sending wsg_50_common::CommandActionGoal messages directly. This ought to be fixed up, but it generally works.

Tests

See test_gripper_driver.py for simple example of how to command the gripper.