Visual Servoing Platform  version 3.5.1 under development (2022-10-03)
testFrankaJointVelocityLimits.cpp

Test Panda robot from Franka Emika joint velocity controller implemented in vpRobotFranka.

/****************************************************************************
*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2019 by Inria. All rights reserved.
*
* This software is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact Inria about acquiring a ViSP Professional
* Edition License.
*
* See http://visp.inria.fr for more information.
*
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
*
* If you have questions regarding the use of this file, please contact
* Inria at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
* Description:
* Test Franka robot behavior
*
* Authors:
* Fabien Spindler
*
*****************************************************************************/
#include <iostream>
#include <visp3/core/vpConfig.h>
#if defined(VISP_HAVE_FRANKA)
#include <visp3/robot/vpRobotFranka.h>
int main(int argc, char **argv)
{
std::string robot_ip = "192.168.1.1";
for (int i = 1; i < argc; i++) {
if (std::string(argv[i]) == "--ip" && i + 1 < argc) {
robot_ip = std::string(argv[i + 1]);
} else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
std::cout << argv[0] << " [--ip 192.168.1.1] [--help] [-h]"
<< "\n";
return EXIT_SUCCESS;
}
}
try {
robot.connect(robot_ip);
std::cout << "WARNING: This example will move the robot! "
<< "Please make sure to have the user stop button at hand!" << std::endl
<< "Press Enter to continue..." << std::endl;
std::cin.ignore();
/*
* Move to a safe position
*/
vpColVector q(7, 0);
q[3] = -M_PI_2;
q[5] = M_PI_2;
q[6] = M_PI_4;
std::cout << "Move to joint position: " << q.t() << std::endl;
robot.setPosition(vpRobot::JOINT_STATE, q);
std::cout << "Joint limits min: " << robot.getJointMin().t() << std::endl;
std::cout << "Joint limits max: " << robot.getJointMax().t() << std::endl;
/*
* Move in joint velocity
*/
double vel = vpMath::rad(80.);
vpColVector dq_d(7, 0);
dq_d[4] = vel;
double delta_t = 10.0; // Time in second
std::cout << "Modify the maximum allowed joint velocity to: " << vel << " rad/s or " << vpMath::deg(vel) << " deg/s"
<< std::endl;
std::cout << "Apply joint vel " << dq_d.t() << " for " << delta_t << " sec " << std::endl;
vpTime::wait(delta_t * 1000);
robot.getPosition(vpRobot::JOINT_STATE, q);
std::cout << "After " << delta_t << " sec reached joint position: " << q.t() << std::endl;
// Move in the other direction
dq_d = -dq_d;
std::cout << "Apply joint vel " << dq_d.t() << " for " << delta_t << " sec " << std::endl;
vpTime::wait(delta_t * 1000);
robot.getPosition(vpRobot::JOINT_STATE, q);
std::cout << "After " << delta_t << " sec reached joint position: " << q.t() << std::endl;
// Move in the other direction
dq_d = -dq_d;
std::cout << "Apply joint vel " << dq_d.t() << " for " << delta_t << " sec " << std::endl;
vpTime::wait(delta_t * 1000 / 2.);
robot.getPosition(vpRobot::JOINT_STATE, q);
std::cout << "After " << delta_t << " sec reached joint position: " << q.t() << std::endl;
std::cout << "Stop the robot " << std::endl;
} catch (const vpException &e) {
std::cout << "ViSP exception: " << e.what() << std::endl;
return EXIT_FAILURE;
} catch (const franka::NetworkException &e) {
std::cout << "Franka network exception: " << e.what() << std::endl;
std::cout << "Check if you are connected to the Franka robot"
<< " or if you specified the right IP using --ip command"
<< " line option set by default to 192.168.1.1. " << std::endl;
return EXIT_FAILURE;
} catch (const std::exception &e) {
std::cout << "Franka exception: " << e.what() << std::endl;
return EXIT_FAILURE;
}
std::cout << "The end" << std::endl;
return EXIT_SUCCESS;
}
#else
int main() { std::cout << "ViSP is not build with libfranka..." << std::endl; }
#endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
vpRowVector t() const
error that can be emited by ViSP classes.
Definition: vpException.h:72
const char * what() const
Definition: vpException.cpp:99
static double rad(double deg)
Definition: vpMath.h:117
static double deg(double rad)
Definition: vpMath.h:110
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
@ JOINT_STATE
Definition: vpRobot.h:81
@ STATE_VELOCITY_CONTROL
Initialize the velocity controller.
Definition: vpRobot.h:67
@ STATE_STOP
Stops robot motion especially in velocity and acceleration control.
Definition: vpRobot.h:66
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Definition: vpRobot.cpp:201
void setMaxRotationVelocity(double maxVr)
Definition: vpRobot.cpp:260
VISP_EXPORT int wait(double t0, double t)