Visual Servoing Platform  version 3.5.0 under development (2022-02-15)
testFrankaCartVelocity-3.cpp
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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.connect(robot_ip);
75  robot.setLogFolder(log_folder);
76 
77  std::cout << "WARNING: This example will move the robot! "
78  << "Please make sure to have the user stop button at hand!" << std::endl
79  << "Press Enter to continue..." << std::endl;
80  std::cin.ignore();
81 
82  /*
83  * Move to a safe position
84  */
85  vpColVector q(7, 0);
86  q[3] = -M_PI_2;
87  q[5] = M_PI_2;
88  q[6] = M_PI_4;
89  std::cout << "Move to joint position: " << q.t() << std::endl;
90  robot.setPositioningVelocity(10.);
92 
93  /*
94  * Move in cartesian velocity
95  */
96  double t0 = vpTime::measureTimeSecond();
97  double delta_t = 4.0; // Time in second
98  vpColVector qdot;
99  vpColVector vc(6);
100  // vc[0] = -0.01; // vx goes toward the user
101  // vc[1] = 0.01; // vy goes left
102  vc[2] = 0.04; // vz goes down
103  // vc[3] = vpMath::rad(5); // wx
104  // vc[4] = vpMath::rad(5); // wy
105  // vc[5] = vpMath::rad(5); // wz
106 
108  robot.set_eMc(eMc);
109 
110  std::cout << "Apply cartesian vel in a loop for " << delta_t << " sec : " << vc.t() << std::endl;
112  do {
114  vpTime::wait(100);
115  } while (vpTime::measureTimeSecond() - t0 < delta_t);
116 
117  // vc[0] = -0.01; // vx goes toward the user
118  // ve[1] = -0.01; // vy goes left
119  vc[2] = -0.02; // vz goes down
120  // vc[3] = vpMath::rad(5); // wx
121  // vc[4] = vpMath::rad(5); // wy
122  // vc[5] = vpMath::rad(5); // wz
123  std::cout << "Apply cartesian vel in a loop for " << delta_t << " sec : " << vc.t() << std::endl;
125  do {
127  vpTime::wait(100);
128  } while (vpTime::measureTimeSecond() - t0 < delta_t);
129 
130  std::cout << "Ask to stop the robot " << std::endl;
132  }
133  catch(const vpException &e) {
134  std::cout << "ViSP exception: " << e.what() << std::endl;
135  return EXIT_FAILURE;
136  }
137  catch(const franka::NetworkException &e) {
138  std::cout << "Franka network exception: " << e.what() << std::endl;
139  std::cout << "Check if you are connected to the Franka robot"
140  << " or if you specified the right IP using --ip command"
141  << " line option set by default to 192.168.1.1. " << std::endl;
142  return EXIT_FAILURE;
143  }
144  catch(const std::exception &e) {
145  std::cout << "Franka exception: " << e.what() << std::endl;
146  return EXIT_FAILURE;
147  }
148 
149  std::cout << "The end" << std::endl;
150  return EXIT_SUCCESS;
151 }
152 
153 #else
154 int main()
155 {
156  std::cout << "ViSP is not build with libfranka..." << std::endl;
157 }
158 #endif
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
VISP_EXPORT int wait(double t0, double t)
Definition: vpTime.cpp:173
vpRobot::vpRobotStateType setRobotState(vpRobot::vpRobotStateType newState)
Implementation of an homogeneous matrix and operations on such kind of matrices.
VISP_EXPORT double measureTimeSecond()
Definition: vpTime.cpp:158
error that can be emited by ViSP classes.
Definition: vpException.h:71
void setPositioningVelocity(double velocity)
void setLogFolder(const std::string &folder)
void set_eMc(const vpHomogeneousMatrix &eMc)
Initialize the velocity controller.
Definition: vpRobot.h:66
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 connect(const std::string &franka_address, franka::RealtimeConfig realtime_config=franka::RealtimeConfig::kEnforce)
void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &position)