43 #include <visp3/robot/vpRobotFranka.h>
45 #if defined(VISP_HAVE_FRANKA)
47 int main(
int argc,
char **argv)
49 std::string opt_robot_ip =
"192.168.1.1";
50 std::string opt_position_filename =
"position.pos";
52 for (
int i = 1; i < argc; i++) {
53 if (std::string(argv[i]) ==
"--ip" && i + 1 < argc) {
54 opt_robot_ip = std::string(argv[i + 1]);
55 }
else if (std::string(argv[i]) ==
"--save" && i + 1 < argc) {
56 opt_position_filename = std::string(argv[i + 1]);
57 }
else if (std::string(argv[i]) ==
"--help" || std::string(argv[i]) ==
"-h") {
58 std::cout <<
"Save Panda robot position in a file." << std::endl;
59 std::cout <<
"Usage:\n" << std::endl;
60 std::cout << argv[0] <<
" [--ip <default " << opt_robot_ip <<
">] [--save <position file name>] [--help] [-h]\n"
62 std::cout <<
"Example:\n" << argv[0] <<
" --ip 192.168.100.1 --save position.pos\n" << std::endl;
71 robot.connect(opt_robot_ip);
75 robot.savePosFile(opt_position_filename, q);
77 std::cout <<
"Robot position saved in \"" << opt_position_filename <<
"\"" << std::endl;
79 std::cout <<
"ViSP exception: " << e.
what() << std::endl;
80 std::cout <<
"Stop the robot " << std::endl;
83 }
catch (
const franka::NetworkException &e) {
84 std::cout <<
"Franka network exception: " << e.what() << std::endl;
85 std::cout <<
"Check if you are connected to the Franka robot"
86 <<
" or if you specified the right IP using --ip command line option set by default to 192.168.1.1. "
89 }
catch (
const std::exception &e) {
90 std::cout <<
"Franka exception: " << e.what() << std::endl;
99 #if !defined(VISP_HAVE_FRANKA)
100 std::cout <<
"Install libfranka." << std::endl;
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)