Visual Servoing Platform  version 3.4.0
frankaSavePosition.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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8  * the Free Software Foundation; either version 2 of the License, or
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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17  * See http://visp.inria.fr for more information.
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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26  * Inria at visp@inria.fr
27  *
28  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
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 
45 #if defined(VISP_HAVE_FRANKA)
46 
47 int main(int argc, char **argv)
48 {
49  std::string opt_robot_ip = "192.168.1.1";
50  std::string opt_position_filename = "position.pos";
51 
52  for (int i = 1; i < argc; i++) {
53  if (std::string(argv[i]) == "--ip" && i + 1 < argc) {
54  opt_robot_ip = std::string(argv[i + 1]);
55  }
56  else if (std::string(argv[i]) == "--save" && i + 1 < argc) {
57  opt_position_filename = std::string(argv[i + 1]);
58  }
59  else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
60  std::cout << "Save Panda robot position in a file." << std::endl;
61  std::cout << "Usage:\n" << std::endl;
62  std::cout << argv[0] << " [--ip <default " << opt_robot_ip << ">] [--save <position file name>] [--help] [-h]\n" << std::endl;
63  std::cout << "Example:\n" << argv[0] << " --ip 192.168.100.1 --save position.pos\n" << std::endl;
64 
65  return EXIT_SUCCESS;
66  }
67  }
68 
69  vpRobotFranka robot;
70 
71  try {
72  robot.connect(opt_robot_ip);
73 
74  vpColVector q;
76  robot.savePosFile(opt_position_filename, q);
77 
78  std::cout << "Robot position saved in \"" << opt_position_filename << "\""<< std::endl;
79  }
80  catch(const vpException &e) {
81  std::cout << "ViSP exception: " << e.what() << std::endl;
82  std::cout << "Stop the robot " << std::endl;
84  return EXIT_FAILURE;
85  }
86  catch(const franka::NetworkException &e) {
87  std::cout << "Franka network exception: " << e.what() << std::endl;
88  std::cout << "Check if you are connected to the Franka robot"
89  << " or if you specified the right IP using --ip command line option set by default to 192.168.1.1. " << std::endl;
90  return EXIT_FAILURE;
91  }
92  catch(const std::exception &e) {
93  std::cout << "Franka exception: " << e.what() << std::endl;
94  return EXIT_FAILURE;
95  }
96 
97  return 0;
98 }
99 #else
100 int main()
101 {
102 #if !defined(VISP_HAVE_FRANKA)
103  std::cout << "Install libfranka." << std::endl;
104 #endif
105  return 0;
106 }
107 #endif
108 
vpRobot::vpRobotStateType setRobotState(vpRobot::vpRobotStateType newState)
bool savePosFile(const std::string &filename, const vpColVector &q)
error that can be emited by ViSP classes.
Definition: vpException.h:71
const char * what() const
Stops robot motion especially in velocity and acceleration control.
Definition: vpRobot.h:65
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position)
void connect(const std::string &franka_address, franka::RealtimeConfig realtime_config=franka::RealtimeConfig::kEnforce)