#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 {
std::cout << "WARNING: This example will move the robot! "
<< "Please make sure to have the user stop button at hand!" << std::endl
<< "Press Enter to continue..." << std::endl;
std::cin.ignore();
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;
double delta_t = 4.0;
std::cout <<
"Apply joint vel in a loop for " << delta_t <<
" sec : " << dq_d.
t() << std::endl;
do {
for (size_t i=0; i < 7; i++)
dq_d[i] = -dq_d[i];
std::cout <<
"Apply new joint vel for " << delta_t <<
" sec : " << dq_d.
t() << std::endl;
std::cout << "Ask to stop the robot " << std::endl;
}
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