Visual Servoing Platform  version 3.2.0 under development (2018-10-21)
testFrankaCartVelocity-2.cpp

Test Panda robot from Franka Emika cartesian velocity controller implemented in vpRobotFranka.

/****************************************************************************
*
* 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:
* Test Franka robot behavior
*
* Authors:
* Fabien Spindler
*
*****************************************************************************/
#include <iostream>
#include <visp3/core/vpConfig.h>
#if defined(VISP_HAVE_FRANKA)
#include <visp3/robot/vpRobotFranka.h>
int main(int argc, char **argv)
{
std::string robot_ip = "192.168.1.1";
for (int i = 1; i < argc; i++) {
if (std::string(argv[i]) == "--ip" && i + 1 < argc) {
robot_ip = std::string(argv[i + 1]);
}
else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
std::cout << argv[0] << " [--ip 192.168.1.1] [--help] [-h]"
<< "\n";
return EXIT_SUCCESS;
}
}
try {
robot.connect(robot_ip);
/*
* Move to a safe position
*/
vpColVector q(7, 0);
q[3] = -M_PI_2;
q[5] = M_PI_2;
q[6] = M_PI_4;
std::cout << "Move to joint position: " << q.t() << std::endl;
/*
* Move in cartesian velocity
*/
double delta_t = 4.0; // Time in second
vpColVector ve(6);
// ve[0] = -0.01; // vx goes toward the user
// ve[1] = 0.01; // vy goes left
ve[2] = 0.04; // vz goes down
// ve[3] = vpMath::rad(5); // wx
// ve[4] = vpMath::rad(5); // wy
// ve[5] = vpMath::rad(5); // wz
std::cout << "Apply cartesian vel in a loop for " << delta_t << " sec : " << ve.t() << std::endl;
do {
vpMatrix eJe;
robot.get_eJe(eJe);
// Turn elbow off
// for(size_t i=0; i<6; i++) {
// eJe[i][2] = 0.0;
// }
vpColVector qdot = eJe.pseudoInverse() * ve;
} while (vpTime::measureTimeSecond() - t0 < delta_t);
// ve[0] = -0.01; // vx goes toward the user
// ve[1] = -0.01; // vy goes left
ve[2] = -0.02; // vz goes down
// ve[3] = vpMath::rad(5); // wx
// ve[4] = vpMath::rad(5); // wy
// ve[5] = vpMath::rad(5); // wz
std::cout << "Apply cartesian vel in a loop for " << delta_t << " sec : " << ve.t() << std::endl;
do {
vpMatrix eJe;
robot.get_eJe(eJe);
// Turn elbow off
// for(size_t i=0; i<6; i++) {
// eJe[i][2] = 0.0;
// }
vpColVector qdot = eJe.pseudoInverse() * ve;
} while (vpTime::measureTimeSecond() - t0 < delta_t);
std::cout << "Ask to stop the robot " << 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;
}
std::cout << "The end" << std::endl;
return EXIT_SUCCESS;
}
#else
int main()
{
std::cout << "ViSP is not build with libfranka..." << std::endl;
}
#endif