Visual Servoing Platform  version 3.2.0
testFrankaCartVelocity-3.cpp
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29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Test Franka robot behavior
33  *
34  * Authors:
35  * Fabien Spindler
36  *
37  *****************************************************************************/
38 
45 #include <iostream>
46 
47 #include <visp3/core/vpConfig.h>
48 
49 #if defined(VISP_HAVE_FRANKA)
50 
51 #include <visp3/robot/vpRobotFranka.h>
52 
53 int main(int argc, char **argv)
54 {
55  std::string robot_ip = "192.168.1.1";
56 
57  for (int i = 1; i < argc; i++) {
58  if (std::string(argv[i]) == "--ip" && i + 1 < argc) {
59  robot_ip = std::string(argv[i + 1]);
60  }
61  else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
62  std::cout << argv[0] << " [--ip 192.168.1.1] [--help] [-h]"
63  << "\n";
64  return EXIT_SUCCESS;
65  }
66  }
67 
68  try {
69  vpRobotFranka robot;
70  robot.connect(robot_ip);
71 
72  std::cout << "WARNING: This example will move the robot! "
73  << "Please make sure to have the user stop button at hand!" << std::endl
74  << "Press Enter to continue..." << std::endl;
75  std::cin.ignore();
76 
77  /*
78  * Move to a safe position
79  */
80  vpColVector q(7, 0);
81  q[3] = -M_PI_2;
82  q[5] = M_PI_2;
83  q[6] = M_PI_4;
84  std::cout << "Move to joint position: " << q.t() << std::endl;
85  robot.setPositioningVelocity(10.);
87 
88  /*
89  * Move in cartesian velocity
90  */
91  double t0 = vpTime::measureTimeSecond();
92  double delta_t = 4.0; // Time in second
93  vpColVector qdot;
94  vpColVector vc(6);
95  // vc[0] = -0.01; // vx goes toward the user
96  // vc[1] = 0.01; // vy goes left
97  vc[2] = 0.04; // vz goes down
98  // vc[3] = vpMath::rad(5); // wx
99  // vc[4] = vpMath::rad(5); // wy
100  // vc[5] = vpMath::rad(5); // wz
101 
103  robot.set_eMc(eMc);
104 
105  std::cout << "Apply cartesian vel in a loop for " << delta_t << " sec : " << vc.t() << std::endl;
107  do {
109  vpTime::wait(100);
110  } while (vpTime::measureTimeSecond() - t0 < delta_t);
111 
112  // vc[0] = -0.01; // vx goes toward the user
113  // ve[1] = -0.01; // vy goes left
114  vc[2] = -0.02; // vz goes down
115  // vc[3] = vpMath::rad(5); // wx
116  // vc[4] = vpMath::rad(5); // wy
117  // vc[5] = vpMath::rad(5); // wz
118  std::cout << "Apply cartesian vel in a loop for " << delta_t << " sec : " << vc.t() << std::endl;
120  do {
122  vpTime::wait(100);
123  } while (vpTime::measureTimeSecond() - t0 < delta_t);
124 
125  std::cout << "Ask to stop the robot " << std::endl;
127  }
128  catch(const vpException &e) {
129  std::cout << "ViSP exception: " << e.what() << std::endl;
130  return EXIT_FAILURE;
131  }
132  catch(const franka::NetworkException &e) {
133  std::cout << "Franka network exception: " << e.what() << std::endl;
134  std::cout << "Check if you are connected to the Franka robot"
135  << " or if you specified the right IP using --ip command"
136  << " line option set by default to 192.168.1.1. " << std::endl;
137  return EXIT_FAILURE;
138  }
139  catch(const std::exception &e) {
140  std::cout << "Franka exception: " << e.what() << std::endl;
141  return EXIT_FAILURE;
142  }
143 
144  std::cout << "The end" << std::endl;
145  return EXIT_SUCCESS;
146 }
147 
148 #else
149 int main()
150 {
151  std::cout << "ViSP is not build with libfranka..." << std::endl;
152 }
153 #endif
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
VISP_EXPORT int wait(double t0, double t)
Definition: vpTime.cpp:150
vpRobot::vpRobotStateType setRobotState(vpRobot::vpRobotStateType newState)
Implementation of an homogeneous matrix and operations on such kind of matrices.
VISP_EXPORT double measureTimeSecond()
Definition: vpTime.cpp:250
error that can be emited by ViSP classes.
Definition: vpException.h:71
void set_eMc(const vpHomogeneousMatrix &eMc)
Initialize the velocity controller.
Definition: vpRobot.h:67
const char * what() const
Implementation of column vector and the associated operations.
Definition: vpColVector.h:72
void setPositioningVelocity(const double velocity)
void connect(const std::string &franka_address, franka::RealtimeConfig realtime_config=franka::RealtimeConfig::kEnforce)
void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &position)