Visual Servoing Platform  version 3.4.0
testFrankaJointTorque.cpp
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3  * ViSP, open source Visual Servoing Platform software.
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11  * distribution for additional information about the GNU GPL.
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20  * Inria Rennes - Bretagne Atlantique
21  * Campus Universitaire de Beaulieu
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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  * Test Franka robot behavior
33  *
34  * Authors:
35  * Fabien Spindler
36  *
37  *****************************************************************************/
38 
45 #include <iostream>
46 
47 #include <visp3/core/vpConfig.h>
48 
49 #if defined(VISP_HAVE_FRANKA)
50 
51 #include <visp3/robot/vpRobotFranka.h>
52 
53 int main(int argc, char **argv)
54 {
55  std::string robot_ip = "192.168.1.1";
56  std::string log_folder;
57 
58  for (int i = 1; i < argc; i++) {
59  if (std::string(argv[i]) == "--ip" && i + 1 < argc) {
60  robot_ip = std::string(argv[i + 1]);
61  }
62  else if (std::string(argv[i]) == "--log_folder" && i + 1 < argc) {
63  log_folder = std::string(argv[i + 1]);
64  }
65  else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
66  std::cout << argv[0] << " [--ip 192.168.1.1] [--log_folder <folder>] [--help] [-h]"
67  << "\n";
68  return EXIT_SUCCESS;
69  }
70  }
71 
72  try {
73  vpRobotFranka robot;
74  robot.setLogFolder(log_folder);
75  robot.connect(robot_ip);
76 
77  std::cout << "WARNING: This example will move the robot! " << std::endl
78  << "- Please make sure to have the user stop button at hand!" << std::endl
79  << "- Please make also sure the end-effector is in contact with a flat surface such as a foam board!" << std::endl
80  << "Press Enter to continue..." << std::endl;
81  std::cin.ignore();
82 
83  /*
84  * Apply joint torque
85  */
86  vpColVector tau_d(7, 0);
87  tau_d[1] = 1.5;
88 
89  double t0 = vpTime::measureTimeSecond();
90  double delta_t = 12.0; // Time in second
91 
92  std::cout << "Apply joint torque in a loop for " << delta_t << " sec : " << tau_d.t() << std::endl;
94  do {
96 
97  vpTime::wait(10);
98  } while (vpTime::measureTimeSecond() - t0 < delta_t);
99 
101  vpTime::wait(100);
102  }
103  catch(const vpException &e) {
104  std::cout << "ViSP exception: " << e.what() << std::endl;
105  return EXIT_FAILURE;
106  }
107  catch(const franka::NetworkException &e) {
108  std::cout << "Franka network exception: " << e.what() << std::endl;
109  std::cout << "Check if you are connected to the Franka robot"
110  << " or if you specified the right IP using --ip command"
111  << " line option set by default to 192.168.1.1. " << std::endl;
112  return EXIT_FAILURE;
113  }
114  catch(const std::exception &e) {
115  std::cout << "Franka exception: " << e.what() << std::endl;
116  return EXIT_FAILURE;
117  }
118 
119  std::cout << "The end" << std::endl;
120  return EXIT_SUCCESS;
121 }
122 
123 #else
124 int main()
125 {
126  std::cout << "ViSP is not build with libfranka..." << std::endl;
127 }
128 #endif
VISP_EXPORT int wait(double t0, double t)
Definition: vpTime.cpp:173
vpRobot::vpRobotStateType setRobotState(vpRobot::vpRobotStateType newState)
VISP_EXPORT double measureTimeSecond()
Definition: vpTime.cpp:158
error that can be emited by ViSP classes.
Definition: vpException.h:71
void setLogFolder(const std::string &folder)
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
Initialize the force/torque controller.
Definition: vpRobot.h:69
void connect(const std::string &franka_address, franka::RealtimeConfig realtime_config=franka::RealtimeConfig::kEnforce)
void setForceTorque(const vpRobot::vpControlFrameType frame, const vpColVector &ft, const double &filter_gain=0.1, const bool &activate_pi_controller=false)