47 #include <visp3/core/vpConfig.h> 49 #if defined(VISP_HAVE_FRANKA) 51 #include <visp3/robot/vpRobotFranka.h> 53 int main(
int argc,
char **argv)
55 std::string robot_ip =
"192.168.1.1";
56 std::string log_folder;
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]);
62 else if (std::string(argv[i]) ==
"--log_folder" && i + 1 < argc) {
63 log_folder = std::string(argv[i + 1]);
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]" 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;
90 double delta_t = 12.0;
92 std::cout <<
"Apply cartesian force/torque in a loop for " << delta_t/2. <<
" sec : " << ft_d.t() << std::endl;
98 static bool change_ft =
true;
100 std::cout <<
"Apply cartesian force/torque in a loop for " << delta_t/2. <<
" sec : " << ft_d.t() << std::endl;
111 std::cout <<
"ViSP exception: " << e.
what() << std::endl;
114 catch(
const franka::NetworkException &e) {
115 std::cout <<
"Franka network exception: " << e.what() << std::endl;
116 std::cout <<
"Check if you are connected to the Franka robot" 117 <<
" or if you specified the right IP using --ip command" 118 <<
" line option set by default to 192.168.1.1. " << std::endl;
121 catch(
const std::exception &e) {
122 std::cout <<
"Franka exception: " << e.what() << std::endl;
126 std::cout <<
"The end" << std::endl;
133 std::cout <<
"ViSP is not build with libfranka..." << std::endl;
VISP_EXPORT int wait(double t0, double t)
vpRobot::vpRobotStateType setRobotState(vpRobot::vpRobotStateType newState)
VISP_EXPORT double measureTimeSecond()
error that can be emited by ViSP classes.
void setLogFolder(const std::string &folder)
const char * what() const
Stops robot motion especially in velocity and acceleration control.
Implementation of column vector and the associated operations.
Initialize the force/torque controller.
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)