Visual Servoing Platform  version 3.2.0 under development (2019-01-22)
frankaMoveToPosition.cpp
1 /****************************************************************************
2  *
3  * ViSP, open source Visual Servoing Platform software.
4  * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5  *
6  * This software is free software; you can redistribute it and/or modify
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9  * (at your option) any later version.
10  * See the file LICENSE.txt at the root directory of this source
11  * distribution for additional information about the GNU GPL.
12  *
13  * For using ViSP with software that can not be combined with the GNU
14  * GPL, please contact Inria about acquiring a ViSP Professional
15  * Edition License.
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18  *
19  * This software was developed at:
20  * Inria Rennes - Bretagne Atlantique
21  * Campus Universitaire de Beaulieu
22  * 35042 Rennes Cedex
23  * France
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29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Franka robot tool.
33  *
34  *****************************************************************************/
35 
41 #include <iostream>
42 
43 #include <visp3/robot/vpRobotFranka.h>
44 #include <visp3/core/vpIoTools.h>
45 
46 #if defined(VISP_HAVE_FRANKA)
47 
48 int main(int argc, char **argv)
49 {
50  std::string opt_robot_ip = "192.168.1.1";
51  std::string opt_position_filename = "";
52 
53  for (int i = 1; i < argc; i++) {
54  if (std::string(argv[i]) == "--ip" && i + 1 < argc) {
55  opt_robot_ip = std::string(argv[i + 1]);
56  }
57  else if (std::string(argv[i]) == "--read" && i + 1 < argc) {
58  opt_position_filename = std::string(argv[i + 1]);
59  }
60  else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
61  std::cout << "Move Panda robot to a position specified from a file." << std::endl;
62  std::cout << argv[0] << " [--ip <default " << opt_robot_ip << ">] [--read <position file name>] [--help] [-h]\n" << std::endl;
63  std::cout << "Example:\n" << argv[0] << " --ip 192.168.100.1 --read position.pos\n" << std::endl;
64 
65  return EXIT_SUCCESS;
66  }
67  }
68 
69  if (opt_position_filename.empty()) {
70  std::cout << "\nError: no position file given as input with --read option. " << std::endl;
71  std::cout << "Call \"" << argv[0] << " --help\" to get usage" << std::endl;
72  return EXIT_FAILURE;
73  }
74  if (! vpIoTools::checkFilename(opt_position_filename)) {
75  std::cout << "\nError: position filename \"" << opt_position_filename << "\" given as input doesn't exist. " << std::endl;
76  std::cout << "Call \"" << argv[0] << " --help\" to get usage" << std::endl;
77  return EXIT_FAILURE;
78  }
79 
80  vpRobotFranka robot;
81 
82  try {
83  robot.connect(opt_robot_ip);
84 
85  robot.move(opt_position_filename);
86  }
87  catch(const vpException &e) {
88  std::cout << "ViSP exception: " << e.what() << std::endl;
89  std::cout << "Stop the robot " << std::endl;
91  return EXIT_FAILURE;
92  }
93  catch(const franka::NetworkException &e) {
94  std::cout << "Franka network exception: " << e.what() << std::endl;
95  std::cout << "Check if you are connected to the Franka robot"
96  << " or if you specified the right IP using --ip command line option set by default to 192.168.1.1. " << std::endl;
97  return EXIT_FAILURE;
98  }
99  catch(const std::exception &e) {
100  std::cout << "Franka exception: " << e.what() << std::endl;
101  return EXIT_FAILURE;
102  }
103 
104  return 0;
105 }
106 #else
107 int main()
108 {
109 #if !defined(VISP_HAVE_FRANKA)
110  std::cout << "Install libfranka." << std::endl;
111 #endif
112  return 0;
113 }
114 #endif
115 
vpRobot::vpRobotStateType setRobotState(vpRobot::vpRobotStateType newState)
error that can be emited by ViSP classes.
Definition: vpException.h:71
static bool checkFilename(const char *filename)
Definition: vpIoTools.cpp:675
const char * what() const
void move(const std::string &filename, double velocity_percentage=10.)
void connect(const std::string &franka_address, franka::RealtimeConfig realtime_config=franka::RealtimeConfig::kEnforce)