Visual Servoing Platform version 3.6.0
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UniversalRobotsMoveToPosition.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2023 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
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.
12 *
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.
16 *
17 * See https://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
24 *
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 * Universal Robots robot tool.
33 *
34*****************************************************************************/
35
41#include <iostream>
42
43#include <visp3/core/vpConfig.h>
44
45#if defined(VISP_HAVE_UR_RTDE)
46
47#include <visp3/core/vpIoTools.h>
48#include <visp3/robot/vpRobotUniversalRobots.h>
49
50int main(int argc, char **argv)
51{
52 std::string opt_robot_ip = "192.168.0.100";
53 std::string opt_position_filename = "";
54
55 for (int i = 1; i < argc; i++) {
56 if (std::string(argv[i]) == "--ip" && i + 1 < argc) {
57 opt_robot_ip = std::string(argv[i + 1]);
58 } else if (std::string(argv[i]) == "--read" && i + 1 < argc) {
59 opt_position_filename = std::string(argv[i + 1]);
60 } else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
61 std::cout << "Move UR robot to a position specified from a file." << std::endl;
62 std::cout << argv[0] << " [--ip <default " << opt_robot_ip << ">] [--read <position file name>] [--help] [-h]\n"
63 << std::endl;
64 std::cout << "Example:\n" << argv[0] << " --ip 192.168.0.100 --read position.pos\n" << std::endl;
65
66 return EXIT_SUCCESS;
67 }
68 }
69
70 if (opt_position_filename.empty()) {
71 std::cout << "\nError: no position file given as input with --read option. " << std::endl;
72 std::cout << "Call \"" << argv[0] << " --help\" to get usage" << std::endl;
73 return EXIT_FAILURE;
74 }
75 if (!vpIoTools::checkFilename(opt_position_filename)) {
76 std::cout << "\nError: position filename \"" << opt_position_filename << "\" given as input doesn't exist. "
77 << std::endl;
78 std::cout << "Call \"" << argv[0] << " --help\" to get usage" << std::endl;
79 return EXIT_FAILURE;
80 }
81
83
84 try {
85 robot.connect(opt_robot_ip);
86
87 robot.move(opt_position_filename);
88 } catch (const vpException &e) {
89 std::cout << "ViSP exception: " << e.what() << std::endl;
90 std::cout << "Stop the robot " << std::endl;
92 return EXIT_FAILURE;
93 } catch (const std::exception &e) {
94 std::cout << "ur_rtde exception: " << e.what() << std::endl;
95 return EXIT_FAILURE;
96 }
97
98 return EXIT_SUCCESS;
99}
100#else
101int main()
102{
103#if !defined(VISP_HAVE_UR_RTDE)
104 std::cout << "ViSP is not build with libur_rtde 3rd party used to control a robot from Universal Robots..."
105 << std::endl;
106#endif
107#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
108 std::cout << "Build ViSP with c++11 or higher compiler flag (cmake -DUSE_CXX_STANDARD=11)." << std::endl;
109#endif
110 return EXIT_SUCCESS;
111}
112#endif
error that can be emitted by ViSP classes.
Definition vpException.h:59
const char * what() const
static bool checkFilename(const std::string &filename)
@ STATE_STOP
Stops robot motion especially in velocity and acceleration control.
Definition vpRobot.h:63
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Definition vpRobot.cpp:198