Visual Servoing Platform version 3.5.0
testFrankaCartVelocity-2.cpp
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3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
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9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
11 * distribution for additional information about the GNU GPL.
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13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
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17 * See http://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
23 * France
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25 * If you have questions regarding the use of this file, please contact
26 * Inria at visp@inria.fr
27 *
28 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Test Franka robot behavior
33 *
34 * Authors:
35 * Fabien Spindler
36 *
37 *****************************************************************************/
38
45#include <iostream>
46
47#include <visp3/core/vpConfig.h>
48
49#if defined(VISP_HAVE_FRANKA)
50
51#include <visp3/robot/vpRobotFranka.h>
52
53int main(int argc, char **argv)
54{
55 std::string robot_ip = "192.168.1.1";
56 std::string log_folder;
57
58 for (int i = 1; i < argc; i++) {
59 if (std::string(argv[i]) == "--ip" && i + 1 < argc) {
60 robot_ip = std::string(argv[i + 1]);
61 }
62 else if (std::string(argv[i]) == "--log_folder" && i + 1 < argc) {
63 log_folder = std::string(argv[i + 1]);
64 }
65 else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
66 std::cout << argv[0] << " [--ip 192.168.1.1] [--log_folder <folder>] [--help] [-h]"
67 << "\n";
68 return EXIT_SUCCESS;
69 }
70 }
71
72 try {
73 vpRobotFranka robot;
74 robot.connect(robot_ip);
75 robot.setLogFolder(log_folder);
76
77 std::cout << "WARNING: This example will move the robot! "
78 << "Please make sure to have the user stop button at hand!" << std::endl
79 << "Press Enter to continue..." << std::endl;
80 std::cin.ignore();
81
82 /*
83 * Move to a safe position
84 */
85 vpColVector q(7, 0);
86 q[3] = -M_PI_2;
87 q[5] = M_PI_2;
88 q[6] = M_PI_4;
89 std::cout << "Move to joint position: " << q.t() << std::endl;
90 robot.setPositioningVelocity(10.);
91 robot.setPosition(vpRobot::JOINT_STATE, q);
92
93 /*
94 * Move in cartesian velocity
95 */
96 double t0 = vpTime::measureTimeSecond();
97 double delta_t = 4.0; // Time in second
98 vpColVector ve(6);
99 // ve[0] = -0.01; // vx goes toward the user
100 // ve[1] = 0.01; // vy goes left
101 ve[2] = 0.04; // vz goes down
102 // ve[3] = vpMath::rad(5); // wx
103 // ve[4] = vpMath::rad(5); // wy
104 // ve[5] = vpMath::rad(5); // wz
105
106 std::cout << "Apply cartesian vel in a loop for " << delta_t << " sec : " << ve.t() << std::endl;
108 do {
109 vpMatrix eJe;
110 robot.get_eJe(eJe);
111
112 // Turn elbow off
113 // for(size_t i=0; i<6; i++) {
114 // eJe[i][2] = 0.0;
115 // }
116
117 vpColVector qdot = eJe.pseudoInverse() * ve;
118
120 vpTime::wait(100);
121 } while (vpTime::measureTimeSecond() - t0 < delta_t);
122
123 // ve[0] = -0.01; // vx goes toward the user
124 // ve[1] = -0.01; // vy goes left
125 ve[2] = -0.02; // vz goes down
126 // ve[3] = vpMath::rad(5); // wx
127 // ve[4] = vpMath::rad(5); // wy
128 // ve[5] = vpMath::rad(5); // wz
129 std::cout << "Apply cartesian vel in a loop for " << delta_t << " sec : " << ve.t() << std::endl;
131 do {
132 vpMatrix eJe;
133 robot.get_eJe(eJe);
134
135 // Turn elbow off
136 // for(size_t i=0; i<6; i++) {
137 // eJe[i][2] = 0.0;
138 // }
139
140 vpColVector qdot = eJe.pseudoInverse() * ve;
141
143 vpTime::wait(100);
144 } while (vpTime::measureTimeSecond() - t0 < delta_t);
145
146 std::cout << "Ask to stop the robot " << std::endl;
148 }
149 catch(const vpException &e) {
150 std::cout << "ViSP exception: " << e.what() << std::endl;
151 return EXIT_FAILURE;
152 }
153 catch(const franka::NetworkException &e) {
154 std::cout << "Franka network exception: " << e.what() << std::endl;
155 std::cout << "Check if you are connected to the Franka robot"
156 << " or if you specified the right IP using --ip command"
157 << " line option set by default to 192.168.1.1. " << std::endl;
158 return EXIT_FAILURE;
159 }
160 catch(const std::exception &e) {
161 std::cout << "Franka exception: " << e.what() << std::endl;
162 return EXIT_FAILURE;
163 }
164
165 std::cout << "The end" << std::endl;
166 return EXIT_SUCCESS;
167}
168
169#else
170int main()
171{
172 std::cout << "ViSP is not build with libfranka..." << std::endl;
173}
174#endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
error that can be emited by ViSP classes.
Definition: vpException.h:72
const char * what() const
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:154
vpMatrix pseudoInverse(double svThreshold=1e-6) const
Definition: vpMatrix.cpp:2241
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
void get_eJe(vpMatrix &eJe)
@ JOINT_STATE
Definition: vpRobot.h:80
@ STATE_VELOCITY_CONTROL
Initialize the velocity controller.
Definition: vpRobot.h:66
@ STATE_STOP
Stops robot motion especially in velocity and acceleration control.
Definition: vpRobot.h:65
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Definition: vpRobot.cpp:201
VISP_EXPORT int wait(double t0, double t)
VISP_EXPORT double measureTimeSecond()