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

Test Panda robot from Franka Emika getting robot state 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";
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 << "-- Start test 1/4" << std::endl;
robot.connect(robot_ip);
for (unsigned i = 0; i < 10; i++) {
std::cout << "Joint position: " << q.t() << std::endl;
}
std::cout << "fMe pose vector: " << fPe.t() << std::endl;
std::cout << "fMe pose matrix: \n" << vpHomogeneousMatrix(fPe) << std::endl;
}
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;
}
try {
std::cout << "-- Start test 2/4" << std::endl;
vpRobotFranka robot(robot_ip);
franka::Robot *handler = robot.getHandler();
// Get end-effector cartesian position
std::array<double, 16> pose = handler->readOnce().O_T_EE;
for (unsigned int i=0; i< 4; i++) {
for (unsigned int j=0; j< 4; j++) {
oMee[i][j] = pose[j*4 + i];
}
}
std::cout << "oMee: \n" << oMee << std::endl;
// Get flange to end-effector frame transformation
pose = handler->readOnce().F_T_EE;
for (unsigned int i=0; i< 4; i++) {
for (unsigned int j=0; j< 4; j++) {
fMee[i][j] = pose[j*4 + i];
}
}
std::cout << "fMee: \n" << fMee << std::endl;
// Get end-effector to K frame transformation
pose = handler->readOnce().EE_T_K;
for (unsigned int i=0; i< 4; i++) {
for (unsigned int j=0; j< 4; j++) {
eeMk[i][j] = pose[j*4 + i];
}
}
std::cout << "eeMk: \n" << eeMk << std::endl;
}
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;
}
try {
std::cout << "-- Start test 3/4" << std::endl;
robot.connect(robot_ip);
vpMatrix mass;
robot.getMass(mass);
std::cout << "Mass matrix:\n" << mass << std::endl;
vpColVector gravity;
robot.getGravity(gravity);
std::cout << "Gravity vector: " << gravity.t() << std::endl;
vpColVector coriolis;
robot.getCoriolis(coriolis);
std::cout << "Coriolis vector: " << coriolis.t() << std::endl;
}
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;
}
try {
std::cout << "-- Start test 4/4" << std::endl;
robot.connect(robot_ip);
std::cout << "Joint position: " << q.t() << std::endl;
vpMatrix fJe;
robot.get_fJe(fJe);
std::cout << "Jacobian fJe:\n" << fJe << std::endl;
robot.get_fJe(q, fJe);
std::cout << "Jacobian fJe:\n" << fJe << std::endl;
vpMatrix eJe;
robot.get_eJe(eJe);
std::cout << "Jacobian eJe:\n" << eJe << std::endl;
robot.get_eJe(q, eJe);
std::cout << "Jacobian eJe:\n" << eJe << std::endl;
}
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