Visual Servoing Platform  version 3.6.1 under development (2024-05-26)
vpRobotFranka.h
1 /*
2  * ViSP, open source Visual Servoing Platform software.
3  * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
4  *
5  * This software is free software; you can redistribute it and/or modify
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8  * (at your option) any later version.
9  * See the file LICENSE.txt at the root directory of this source
10  * distribution for additional information about the GNU GPL.
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12  * For using ViSP with software that can not be combined with the GNU
13  * GPL, please contact Inria about acquiring a ViSP Professional
14  * Edition License.
15  *
16  * See https://visp.inria.fr for more information.
17  *
18  * This software was developed at:
19  * Inria Rennes - Bretagne Atlantique
20  * Campus Universitaire de Beaulieu
21  * 35042 Rennes Cedex
22  * France
23  *
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27  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
28  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29  *
30  * Description:
31  * Interface for the Franka robot.
32  */
33 
34 #ifndef _vpRobotFranka_h_
35 #define _vpRobotFranka_h_
36 
37 #include <visp3/core/vpConfig.h>
38 
39 #if defined(VISP_HAVE_FRANKA) && defined(VISP_HAVE_THREADS)
40 
41 #include <atomic>
42 #include <iostream>
43 #include <thread>
44 #include <vector>
45 
46 #include <stdio.h>
47 
48 #include <franka/exception.h>
49 #include <franka/gripper.h>
50 #include <franka/model.h>
51 #include <franka/robot.h>
52 
53 #include <visp3/core/vpColVector.h>
54 #include <visp3/core/vpException.h>
55 #include <visp3/robot/vpRobot.h>
56 
221 class VISP_EXPORT vpRobotFranka : public vpRobot
222 {
223 private:
227  vpRobotFranka(const vpRobotFranka &robot);
231  void getDisplacement(const vpRobot::vpControlFrameType, vpColVector &) vp_override { };
232 
233  void init();
234 
235  franka::Robot *m_handler;
236  franka::Gripper *m_gripper;
237  franka::Model *m_model;
238  double m_positioningVelocity;
239 
240  // Velocity controller
241  std::thread m_velControlThread;
242  std::atomic_bool m_velControlThreadIsRunning;
243  std::atomic_bool m_velControlThreadStopAsked;
244  std::array<double, 7> m_dq_des; // Desired joint velocity
245  vpColVector m_v_cart_des; // Desired cartesian velocity either in reference, end-effector, camera, or tool frame
246 
247  // Force/torque controller
248  std::thread m_ftControlThread;
249  std::atomic_bool m_ftControlThreadIsRunning;
250  std::atomic_bool m_ftControlThreadStopAsked;
251  std::array<double, 7> m_tau_J_des; // Desired joint torques
252  vpColVector m_ft_cart_des; // Desired cartesian force/torque either in reference, end-effector, camera, or tool frame
253 
254  std::array<double, 7> m_q_min; // Joint min position
255  std::array<double, 7> m_q_max; // Joint max position
256  std::array<double, 7> m_dq_max; // Joint max velocity
257  std::array<double, 7> m_ddq_max; // Joint max acceleration
258 
259  franka::RobotState m_robot_state; // Robot state protected by mutex
260  std::mutex m_mutex; // Mutex to protect m_robot_state
261 
262  vpHomogeneousMatrix m_eMc;
263  std::string m_log_folder;
264  std::string m_franka_address;
265 
266 public:
267  vpRobotFranka();
268 
269  vpRobotFranka(const std::string &franka_address,
270  franka::RealtimeConfig realtime_config = franka::RealtimeConfig::kEnforce);
271 
272  virtual ~vpRobotFranka();
273 
274  void connect(const std::string &franka_address,
275  franka::RealtimeConfig realtime_config = franka::RealtimeConfig::kEnforce);
276 
277  vpHomogeneousMatrix get_fMe(const vpColVector &q);
278  vpHomogeneousMatrix get_fMc(const vpColVector &q);
279  vpHomogeneousMatrix get_eMc() const;
280 
281  void get_eJe(vpMatrix &eJe) vp_override;
282  void get_eJe(const vpColVector &q, vpMatrix &eJe);
283  void get_fJe(vpMatrix &fJe) vp_override;
284  void get_fJe(const vpColVector &q, vpMatrix &fJe);
285 
286  void getCoriolis(vpColVector &coriolis);
287  void getForceTorque(const vpRobot::vpControlFrameType frame, vpColVector &force);
288 
289  void getGravity(vpColVector &gravity);
290 
291  franka::RobotState getRobotInternalState();
292 
298  franka::Gripper *getGripperHandler()
299  {
300  if (!m_gripper) {
301  throw(vpException(vpException::fatalError, "Cannot get Franka gripper handler: gripper is not connected"));
302  }
303 
304  return m_gripper;
305  }
306 
312  franka::Robot *getHandler()
313  {
314  if (!m_handler) {
315  throw(vpException(vpException::fatalError, "Cannot get Franka robot handler: robot is not connected"));
316  }
317 
318  return m_handler;
319  }
320 
321  vpColVector getJointMin() const;
322  vpColVector getJointMax() const;
323 
324  void getMass(vpMatrix &mass);
325 
326  void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position) vp_override;
327  void getPosition(const vpRobot::vpControlFrameType frame, vpPoseVector &pose);
328 
329  void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &d_position);
330 
331  int gripperClose();
332  int gripperGrasp(double grasping_width, double force = 60.);
333  int gripperGrasp(double grasping_width, double speed, double force);
334  void gripperHoming();
335  int gripperMove(double width);
336  int gripperOpen();
337  void gripperRelease();
338 
339  void move(const std::string &filename, double velocity_percentage = 10.);
340 
341  bool readPosFile(const std::string &filename, vpColVector &q);
342  bool savePosFile(const std::string &filename, const vpColVector &q);
343 
344  void set_eMc(const vpHomogeneousMatrix &eMc);
345  void setForceTorque(const vpRobot::vpControlFrameType frame, const vpColVector &ft, const double &filter_gain = 0.1,
346  const bool &activate_pi_controller = false);
347  void setLogFolder(const std::string &folder);
348  void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &position) vp_override;
349  void setPositioningVelocity(double velocity);
350 
352  void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel) vp_override;
353 
354  void stopMotion();
355 };
356 
357 #endif
358 #endif // #ifndef __vpRobotFranka_h_
Implementation of column vector and the associated operations.
Definition: vpColVector.h:163
error that can be emitted by ViSP classes.
Definition: vpException.h:59
@ fatalError
Fatal error.
Definition: vpException.h:71
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:146
Implementation of a pose vector and operations on poses.
Definition: vpPoseVector.h:190
franka::Robot * getHandler()
franka::Gripper * getGripperHandler()
Class that defines a generic virtual robot.
Definition: vpRobot.h:57
vpControlFrameType
Definition: vpRobot.h:75
virtual void get_eJe(vpMatrix &_eJe)=0
Get the robot Jacobian expressed in the end-effector frame.
virtual void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)=0
virtual void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position)=0
Get the robot position (frame has to be specified).
vpRobotStateType
Definition: vpRobot.h:63
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Definition: vpRobot.cpp:198
virtual void init()=0
virtual void get_fJe(vpMatrix &_fJe)=0
virtual void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
virtual void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q)=0
Set a displacement (frame has to be specified) in position control.