SCHUNK Gripper

This is the ROS2 driver for SCHUNK's EGU, EGK, and EZU mechatronic grippers. The driver supports both Modbus RTU and Ethernet-based (PROFINET, Ethernet/IP, and EtherCAT) versions.

Under construction

We are currently doing a complete rework of this driver in Python. A feature-complete release is planned for end of October '25.

Build and install

1. In a new terminal, source your global ROS2 environment, e.g.

   source /opt/ros/humble/setup.bash

2. Navigate into your local ROS2 workspace, and install ROS2 dependencies with

   git clone https://github.com/SCHUNK-SE-Co-KG/schunk_egu_egk_gripper.git src/schunk_gripper
   sudo apt update -qq
   rosdep update
   rosdep install --from-paths src --ignore-src -y

3. You'll need some additional python dependencies that are best managed inside a virtual environment. After creating and sourcing such an environment, navigate into the schunk_gripper_library subfolder and

   pip install .

   This will install everything that the driver requires.

4. (Optional): Only if the colcon build command from below fails:

   pip install empy catkin_pkg lark

5. Finally, inside your ROS2 workspace, build the driver with

   colcon build

Getting started

In every new terminal, source your local ROS2 workspace

source install/setup.bash

and your virtual environment with

source .venv/bin/activate

You can then start the driver with

ros2 launch schunk_gripper_driver driver.launch.py