Installation

Using CMake

Install CMake and a C++ compiler that supports C++17.
Create a build directory and navigate into it:
```
mkdir build
cd build
```
Run CMake to configure the project:
```
cmake ..
```
Build the project:
```
cmake --build .
```
Optionally, install the library and tools:
```
sudo cmake --install .
```

Using Colcon

The repository is a valid Colcon package. To build it put the package in your Colcon workspace and build the workspace.

UDEV rules

To enable consistent naming of the device as /dev/schunk_svh and /dev/schunk_svh<SERIAL_NUMBER>, follow these steps:

Copy the UDEV rules file to the appropriate directory:

sudo cp udev/43-schunk-svh.rules /etc/udev/rules.d/

Reload the udev rules and trigger them:

sudo udevadm control --reload-rules
sudo udevadm trigger

Verify the device is correctly named:
```
ls -l /dev/schunk_svh*
```

Note

If you are running the API or derived driver in a Docker container, you have to perform the bove steps in the host system.

Note

The serial number is read from the USB-to-Serial converter chip and it will not match the serial number of the hand itself. It is still useful when connecting multiple hands to the same computer as long as you connect the hand consistently to the same adapter.