Visual Servoing Platform  version 3.2.0 under development (2018-12-17)
frankaGripper.cpp

Move Panda robot from Franka Emika to a position specified from a file.

/****************************************************************************
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2017 by Inria. All rights reserved.
*
* This software is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact Inria about acquiring a ViSP Professional
* Edition License.
*
* See http://visp.inria.fr for more information.
*
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
*
* If you have questions regarding the use of this file, please contact
* Inria at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
* Description:
* Franka robot tool.
*
*****************************************************************************/
#include <iostream>
#include <visp3/robot/vpRobotFranka.h>
#if defined(VISP_HAVE_FRANKA)
typedef enum {
Gripper_Home,
Gripper_Open,
Gripper_Close,
Gripper_Grasp,
Gripper_Release,
Gripper_Test,
Gripper_None
} GripperState_t;
int main(int argc, char **argv)
{
std::string opt_robot_ip = "192.168.1.1";
double opt_grasping_width = 0.;
GripperState_t opt_gripper_state = Gripper_None;
for (int i = 1; i < argc; i++) {
if (std::string(argv[i]) == "--ip" && i + 1 < argc) {
opt_robot_ip = std::string(argv[i + 1]);
}
else if (std::string(argv[i]) == "--home") {
opt_gripper_state = Gripper_Home;
}
else if (std::string(argv[i]) == "--open") {
opt_gripper_state = Gripper_Open;
} else if (std::string(argv[i]) == "--close") {
opt_gripper_state = Gripper_Close;
} else if (std::string(argv[i]) == "--grasp" && i + 1 < argc) {
opt_gripper_state = Gripper_Grasp;
opt_grasping_width = std::atof(argv[i + 1]);
} else if (std::string(argv[i]) == "--test" && i + 1 < argc) {
opt_gripper_state = Gripper_Test;
opt_grasping_width = std::atof(argv[i + 1]);
}
else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
std::cout << "Control Panda gripper." << std::endl;
std::cout << argv[0] << " [--ip <default " << opt_robot_ip << ">] [--home] [--open] [--close] [--grasp <object width in meter>] [--release] [--test <object width in meter>] [--help] [-h]\n" << std::endl;
std::cout << "Example to grasp a 4cm width object by first opening the gripper, then grasping the object :\n"
<< argv[0] << " --ip 192.168.100.1 --open\n"
<< argv[0] << " --ip 192.168.100.1 --grasp 0.04\n" << std::endl;
return EXIT_SUCCESS;
}
}
if (opt_gripper_state == Gripper_None) {
std::cout << "Specify which action you want to achieve. Run \"" << argv[0] << " --help\" to see how to use this binary." << std::endl;
return EXIT_SUCCESS;
} else if ((opt_gripper_state == Gripper_Grasp || opt_gripper_state == Gripper_Test) && opt_grasping_width <= 0) {
std::cout << "Object with in meter should be > 0. Run \"" << argv[0] << " --help\" to see how to use this binary." << std::endl;
return EXIT_SUCCESS;
}
try {
robot.connect(opt_robot_ip);
if (opt_gripper_state == Gripper_Home) {
std::cout << "Gripper homing..." << std::endl;
robot.gripperHoming();
}
else if (opt_gripper_state == Gripper_Close) {
std::cout << "Gripper closing..." << std::endl;
robot.gripperClose();
}
else if (opt_gripper_state == Gripper_Open) {
std::cout << "Gripper opening..." << std::endl;
robot.gripperOpen();
}
else if (opt_gripper_state == Gripper_Grasp) {
std::cout << "Gripper grasp " << opt_grasping_width << "m object width..." << std::endl;
robot.gripperGrasp(opt_grasping_width);
}
else if (opt_gripper_state == Gripper_Release) {
std::cout << "Gripper release object..." << std::endl;
robot.gripperRelease();
}
else if (opt_gripper_state == Gripper_Test) {
std::cout << "Test gripper performing the following actions:" << std::endl;
std::cout << "- Gripper homing..." << std::endl;
robot.gripperHoming();
std::cout << "- Gripper closing..." << std::endl;
robot.gripperClose();
std::cout << "- Gripper open 5cm..." << std::endl;
robot.gripperMove(0.05);
std::cout << "- Gripper opening..." << std::endl;
robot.gripperOpen();
std::cout << "- Gripper grasp " << opt_grasping_width << "m object width..." << std::endl;
robot.gripperGrasp(opt_grasping_width);
std::cout << "- Gripper release object..." << std::endl;
robot.gripperRelease();
}
std::cout << "The end!" << std::endl;
}
catch(const vpException &e) {
std::cout << "ViSP exception: " << e.what() << std::endl;
return EXIT_FAILURE;
}
catch(const franka::NetworkException &e) {
std::cout << "Franka network exception: " << e.what() << std::endl;
std::cout << "Check if you are connected to the Franka robot"
<< " or if you specified the right IP using --ip command line option set by default to 192.168.1.1. " << std::endl;
return EXIT_FAILURE;
}
catch(const std::exception &e) {
std::cout << "Franka exception: " << e.what() << std::endl;
return EXIT_FAILURE;
}
return 0;
}
#else
int main()
{
#if !defined(VISP_HAVE_FRANKA)
std::cout << "Install libfranka 3rd party, configure and build again ViSP to use this example..." << std::endl;
#endif
return 0;
}
#endif