The driver implements a lifecycle node with defined state transitions. This gives us advanced control over configuration and resetting processes.
With built-in features
ros2 lifecycle get /schunk/driver
ros2 lifecycle set /schunk/driver configure # activate | deactivate | cleanup | shutdownAnd with ROS2 services
ros2 service call /schunk/driver/get_state lifecycle_msgs/srv/GetState '{}'
ros2 service call /schunk/driver/change_state lifecycle_msgs/srv/ChangeState '{transition: {label: configure}}' # activate | deactivate etc.