franka_echo_robot_state.cpp

An example showing how to continuously read the robot state.

This example is part of libfranka FCI C++ API: https://frankaemika.github.io/libfranka See https://frankaemika.github.io/docs for more details.

// Copyright (c) 2017 Franka Emika GmbH
// Use of this source code is governed by the Apache-2.0 license, see LICENSE
#include <iostream>

#include <visp3/core/vpConfig.h>

#ifdef VISP_HAVE_FRANKA

#include <franka/exception.h>
#include <franka/robot.h>

int main(int argc, char **argv)
{
  if (argc != 2) {
    std::cerr << "Usage: ./echo_robot_state <robot-hostname>" << std::endl;
    return -1;
  }

  try {
    franka::Robot robot(argv[1]);

    size_t count = 0;
    robot.read([&count](const franka::RobotState &robot_state) {
      // Printing to std::cout adds a delay. This is acceptable for a read
      // loop such as this, but should not be done in a control loop.
      std::cout << robot_state << std::endl;
      return count++ < 100;
    });

    std::cout << "Done." << std::endl;
  } catch (franka::Exception const &e) {
    std::cout << e.what() << std::endl;
    return -1;
  }

  return 0;
}

#else
int main() { std::cout << "This example needs libfranka to control Panda robot." << std::endl; }
#endif