Visual Servoing Platform  version 3.3.0 under development (2020-02-17)
testFrankaCartForceTorque-2.cpp

Test Panda robot from Franka Emika cartesian force/torque controller implemented in vpRobotFranka.

/****************************************************************************
*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2019 by Inria. All rights reserved.
*
* This software is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact Inria about acquiring a ViSP Professional
* Edition License.
*
* See http://visp.inria.fr for more information.
*
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
*
* If you have questions regarding the use of this file, please contact
* Inria at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
* Description:
* Test Franka robot behavior
*
* Authors:
* Fabien Spindler
*
*****************************************************************************/
#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";
std::string log_folder;
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]) == "--log_folder" && i + 1 < argc) {
log_folder = 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] [--log_folder <folder>] [--help] [-h]"
<< "\n";
return EXIT_SUCCESS;
}
}
try {
robot.setLogFolder(log_folder);
robot.connect(robot_ip);
std::cout << "WARNING: This example will move the robot! " << std::endl
<< "- Please make sure to have the user stop button at hand!" << std::endl
<< "- Please make also sure the end-effector is in contact with a flat surface such as a foam board!" << std::endl
<< "Press Enter to continue..." << std::endl;
std::cin.ignore();
/*
* Apply joint torque
*/
vpColVector ft_d(6, 0);
ft_d[2] = -2;
double delta_t = 12.0; // Time in second
std::cout << "Apply cartesian force/torque in a loop for " << delta_t/2. << " sec : " << ft_d.t() << std::endl;
double filter_gain = 0.15;
bool activate_pi_controller = true;
do {
robot.setForceTorque(vpRobot::END_EFFECTOR_FRAME, ft_d, filter_gain, activate_pi_controller); // Use low level PI controller
if (vpTime::measureTimeSecond() - t0 > delta_t / 2.) {
ft_d[2] = -10;
static bool change_ft = true;
if (change_ft) {
std::cout << "Apply cartesian force/torque in a loop for " << delta_t/2. << " sec : " << ft_d.t() << std::endl;
}
change_ft = false;
}
vpTime::wait(10); // wait 10 ms
} while (vpTime::measureTimeSecond() - t0 < delta_t);
}
catch(const vpException &e) {
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