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";
57 for (
int i = 1; i < argc; i++) {
58 if (std::string(argv[i]) ==
"--ip" && i + 1 < argc) {
59 robot_ip = std::string(argv[i + 1]);
61 else if (std::string(argv[i]) ==
"--help" || std::string(argv[i]) ==
"-h") {
62 std::cout << argv[0] <<
" [--ip 192.168.1.1] [--help] [-h]" 72 std::cout <<
"WARNING: This example will move the robot! " 73 <<
"Please make sure to have the user stop button at hand!" << std::endl
74 <<
"Press Enter to continue..." << std::endl;
84 std::cout <<
"Move to joint position: " << q.t() << std::endl;
87 std::cout <<
"Joint limits min: " << robot.
getJointMin().
t() << std::endl;
88 std::cout <<
"Joint limits max: " << robot.
getJointMax().
t() << std::endl;
96 double delta_t = 10.0;
98 std::cout <<
"Modify the maximum allowed joint velocity to: " << vel <<
" rad/s or " <<
vpMath::deg(vel) <<
" deg/s" << std::endl;
100 std::cout <<
"Apply joint vel " << dq_d.t() <<
" for " << delta_t <<
" sec " << std::endl;
106 std::cout <<
"After " << delta_t <<
" sec reached joint position: " << q.t() << std::endl;
110 std::cout <<
"Apply joint vel " << dq_d.t() <<
" for " << delta_t <<
" sec " << std::endl;
115 std::cout <<
"After " << delta_t <<
" sec reached joint position: " << q.t() << std::endl;
119 std::cout <<
"Apply joint vel " << dq_d.t() <<
" for " << delta_t <<
" sec " << std::endl;
124 std::cout <<
"After " << delta_t <<
" sec reached joint position: " << q.t() << std::endl;
126 std::cout <<
"Stop the robot " << std::endl;
130 std::cout <<
"ViSP exception: " << e.
what() << std::endl;
133 catch(
const franka::NetworkException &e) {
134 std::cout <<
"Franka network exception: " << e.what() << std::endl;
135 std::cout <<
"Check if you are connected to the Franka robot" 136 <<
" or if you specified the right IP using --ip command" 137 <<
" line option set by default to 192.168.1.1. " << std::endl;
140 catch(
const std::exception &e) {
141 std::cout <<
"Franka exception: " << e.what() << std::endl;
145 std::cout <<
"The end" << std::endl;
152 std::cout <<
"ViSP is not build with libfranka..." << std::endl;
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
VISP_EXPORT int wait(double t0, double t)
vpRobot::vpRobotStateType setRobotState(vpRobot::vpRobotStateType newState)
error that can be emited by ViSP classes.
void setMaxRotationVelocity(double maxVr)
Initialize the velocity controller.
const char * what() const
static double rad(double deg)
Stops robot motion especially in velocity and acceleration control.
static double deg(double rad)
Implementation of column vector and the associated operations.
void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position)
void connect(const std::string &franka_address, franka::RealtimeConfig realtime_config=franka::RealtimeConfig::kEnforce)
void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &position)
vpColVector getJointMax() const
vpColVector getJointMin() const