43 #include <visp3/core/vpConfig.h>
45 #if defined(VISP_HAVE_UR_RTDE)
47 #include <visp3/robot/vpRobotUniversalRobots.h>
49 int main(
int argc,
char **argv)
51 std::string opt_robot_ip =
"192.168.0.100";
52 std::string opt_position_filename =
"position.pos";
54 for (
int i = 1; i < argc; i++) {
55 if (std::string(argv[i]) ==
"--ip" && i + 1 < argc) {
56 opt_robot_ip = std::string(argv[i + 1]);
58 else if (std::string(argv[i]) ==
"--save" && i + 1 < argc) {
59 opt_position_filename = std::string(argv[i + 1]);
61 else if (std::string(argv[i]) ==
"--help" || std::string(argv[i]) ==
"-h") {
62 std::cout <<
"Save UR robot position in a file." << std::endl;
63 std::cout <<
"Usage:\n" << std::endl;
64 std::cout << argv[0] <<
" [--ip <default " << opt_robot_ip <<
">] [--save <position file name>] [--help] [-h]\n"
66 std::cout <<
"Example:\n" << argv[0] <<
" --ip 192.168.0.100 --save position.pos\n" << std::endl;
75 robot.connect(opt_robot_ip);
79 robot.savePosFile(opt_position_filename, q);
81 std::cout <<
"Robot position saved in \"" << opt_position_filename <<
"\"" << std::endl;
84 std::cout <<
"ViSP exception: " << e.
what() << std::endl;
85 std::cout <<
"Stop the robot " << std::endl;
89 catch (
const std::exception &e) {
90 std::cout <<
"ur_rtde exception: " << e.what() << std::endl;
99 #if !defined(VISP_HAVE_UR_RTDE)
100 std::cout <<
"ViSP is not build with libur_rtde 3rd party used to control a robot from Universal Robots..."
Implementation of column vector and the associated operations.
error that can be emitted by ViSP classes.
const char * what() const
@ STATE_STOP
Stops robot motion especially in velocity and acceleration control.
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)