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);
69 std::cout <<
"WARNING: This example will move the robot! "
70 <<
"Please make sure to have the user stop button at hand!" << std::endl
71 <<
"Press Enter to continue..." << std::endl;
86 std::cout <<
"Move to joint position [rad]: " << q.
t() << std::endl;
91 std::cout <<
"Move to joint position [rad]: " << q.
t() << std::endl;
96 std::cout <<
"Move to joint position [rad]: " << q.
t() << std::endl;
100 std::cout <<
"Move to joint position [rad]: " << q_init.
t() << std::endl;
104 std::cout <<
"ViSP exception: " << e.
what() << std::endl;
107 catch (
const std::exception &e) {
108 std::cout <<
"ur_rtde exception: " << e.what() << std::endl;
112 std::cout <<
"The end" << std::endl;
119 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
static double rad(double deg)
@ STATE_POSITION_CONTROL
Initialize the position controller.
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)