44 #include <visp3/core/vpConfig.h>
46 #if defined(VISP_HAVE_UR_RTDE)
48 #include <visp3/robot/vpRobotUniversalRobots.h>
50 int main(
int argc,
char **argv)
52 std::string robot_ip =
"192.168.0.100";
54 for (
int i = 1; i < argc; i++) {
55 if (std::string(argv[i]) ==
"--ip" && i + 1 < argc) {
56 robot_ip = std::string(argv[i + 1]);
58 else if (std::string(argv[i]) ==
"--help" || std::string(argv[i]) ==
"-h") {
59 std::cout << argv[0] <<
" [--ip " << robot_ip <<
"] [--help] [-h]"
67 robot.connect(robot_ip);
68 std::cout <<
"Connected robot model: " << robot.getRobotModel() << std::endl;
70 std::cout <<
"WARNING: This example will move the robot! "
71 <<
"Please make sure to have the user stop button at hand!" << std::endl
72 <<
"Press Enter to continue..." << std::endl;
85 std::cout <<
"Move to joint position: " << q.t() << std::endl;
112 std::cout <<
"ViSP exception: " << e.
what() << std::endl;
115 catch (
const std::exception &e) {
116 std::cout <<
"ur_rtde exception: " << e.what() << std::endl;
120 std::cout <<
"The end" << std::endl;
127 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
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a pose vector and operations on poses.
@ STATE_POSITION_CONTROL
Initialize the position controller.
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)