Move Panda robot from Franka Emika to a position specified from a file.
#include <iostream>
#include <visp3/robot/vpRobotFranka.h>
#include <visp3/core/vpIoTools.h>
#if defined(VISP_HAVE_FRANKA)
int main(int argc, char **argv)
{
std::string opt_robot_ip = "192.168.1.1";
std::string opt_position_filename = "";
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]) == "--read" && i + 1 < argc) {
opt_position_filename = std::string(argv[i + 1]);
}
else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
std::cout << "Move Panda robot to a position specified from a file." << std::endl;
std::cout << argv[0] << " [--ip <default " << opt_robot_ip << ">] [--read <position file name>] [--help] [-h]\n" << std::endl;
std::cout << "Example:\n" << argv[0] << " --ip 192.168.100.1 --read position.pos\n" << std::endl;
return EXIT_SUCCESS;
}
}
if (opt_position_filename.empty()) {
std::cout << "\nError: no position file given as input with --read option. " << std::endl;
std::cout << "Call \"" << argv[0] << " --help\" to get usage" << std::endl;
return EXIT_FAILURE;
}
std::cout << "\nError: position filename \"" << opt_position_filename << "\" given as input doesn't exist. " << std::endl;
std::cout << "Call \"" << argv[0] << " --help\" to get usage" << std::endl;
return EXIT_FAILURE;
}
try {
robot.
move(opt_position_filename);
}
std::cout <<
"ViSP exception: " << e.
what() << std::endl;
std::cout << "Stop the robot " << 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." << std::endl;
#endif
return 0;
}
#endif