franka_generate_joint_velocity_motion.cpp

An example showing how to generate a joint velocity motion.

Warning

Before executing this example, make sure there is enough space in front of the robot.

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 <cmath>
#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: ./generate_joint_velocity_motion <robot-hostname>" << std::endl;
    return -1;
  }
  try {
    franka::Robot robot(argv[1]);

    // Set additional parameters always before the control loop, NEVER in the
    // control loop! Set collision behavior.
    robot.setCollisionBehavior(
        {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}}, {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}},
        {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}}, {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}},
        {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}}, {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}},
        {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}}, {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}});

    double time_max = 4.0;
    double omega_max = 0.2;
    double time = 0.0;
    robot.control([=, &time](const franka::RobotState &, franka::Duration time_step) -> franka::JointVelocities {
      time += time_step.toSec();

      double cycle = std::floor(std::pow(-1.0, (time - std::fmod(time, time_max)) / time_max));
      double omega = cycle * omega_max / 2.0 * (1.0 - std::cos(2.0 * M_PI / time_max * time));

      franka::JointVelocities velocities = {{0.0, 0.0, 0.0, omega, omega, omega, omega}};

      if (time >= 2 * time_max) {
        std::cout << std::endl << "Finished motion, shutting down example" << std::endl;
        return franka::MotionFinished(velocities);
      }
      return velocities;
    });
  } catch (const franka::Exception &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