Visual Servoing Platform version 3.6.0
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testFrankaCartVelocity-2.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 * Test Franka robot behavior
33 *
34*****************************************************************************/
35
42#include <iostream>
43
44#include <visp3/core/vpConfig.h>
45
46#if defined(VISP_HAVE_FRANKA)
47
48#include <visp3/robot/vpRobotFranka.h>
49
50int main(int argc, char **argv)
51{
52 std::string robot_ip = "192.168.1.1";
53 std::string log_folder;
54
55 for (int i = 1; i < argc; i++) {
56 if (std::string(argv[i]) == "--ip" && i + 1 < argc) {
57 robot_ip = std::string(argv[i + 1]);
58 } else if (std::string(argv[i]) == "--log_folder" && i + 1 < argc) {
59 log_folder = std::string(argv[i + 1]);
60 } else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
61 std::cout << argv[0] << " [--ip 192.168.1.1] [--log_folder <folder>] [--help] [-h]"
62 << "\n";
63 return EXIT_SUCCESS;
64 }
65 }
66
67 try {
68 vpRobotFranka robot;
69 robot.connect(robot_ip);
70 robot.setLogFolder(log_folder);
71
72 std::cout << "WARNING: This example will move the robot! "
73 << "Please make sure to have the user stop button at hand!" << std::endl
74 << "Press Enter to continue..." << std::endl;
75 std::cin.ignore();
76
77 /*
78 * Move to a safe position
79 */
80 vpColVector q(7, 0);
81 q[3] = -M_PI_2;
82 q[5] = M_PI_2;
83 q[6] = M_PI_4;
84 std::cout << "Move to joint position: " << q.t() << std::endl;
85 robot.setPositioningVelocity(10.);
86 robot.setPosition(vpRobot::JOINT_STATE, q);
87
88 /*
89 * Move in cartesian velocity
90 */
91 double t0 = vpTime::measureTimeSecond();
92 double delta_t = 4.0; // Time in second
93 vpColVector ve(6);
94 // ve[0] = -0.01; // vx goes toward the user
95 // ve[1] = 0.01; // vy goes left
96 ve[2] = 0.04; // vz goes down
97 // ve[3] = vpMath::rad(5); // wx
98 // ve[4] = vpMath::rad(5); // wy
99 // ve[5] = vpMath::rad(5); // wz
100
101 std::cout << "Apply cartesian vel in a loop for " << delta_t << " sec : " << ve.t() << std::endl;
103 do {
104 vpMatrix eJe;
105 robot.get_eJe(eJe);
106
107 // Turn elbow off
108 // for(size_t i=0; i<6; i++) {
109 // eJe[i][2] = 0.0;
110 // }
111
112 vpColVector qdot = eJe.pseudoInverse() * ve;
113
115 vpTime::wait(100);
116 } while (vpTime::measureTimeSecond() - t0 < delta_t);
117
118 // ve[0] = -0.01; // vx goes toward the user
119 // ve[1] = -0.01; // vy goes left
120 ve[2] = -0.02; // vz goes down
121 // ve[3] = vpMath::rad(5); // wx
122 // ve[4] = vpMath::rad(5); // wy
123 // ve[5] = vpMath::rad(5); // wz
124 std::cout << "Apply cartesian vel in a loop for " << delta_t << " sec : " << ve.t() << std::endl;
126 do {
127 vpMatrix eJe;
128 robot.get_eJe(eJe);
129
130 // Turn elbow off
131 // for(size_t i=0; i<6; i++) {
132 // eJe[i][2] = 0.0;
133 // }
134
135 vpColVector qdot = eJe.pseudoInverse() * ve;
136
138 vpTime::wait(100);
139 } while (vpTime::measureTimeSecond() - t0 < delta_t);
140
141 std::cout << "Ask to stop the robot " << std::endl;
143 } catch (const vpException &e) {
144 std::cout << "ViSP exception: " << e.what() << std::endl;
145 return EXIT_FAILURE;
146 } catch (const franka::NetworkException &e) {
147 std::cout << "Franka network exception: " << e.what() << std::endl;
148 std::cout << "Check if you are connected to the Franka robot"
149 << " or if you specified the right IP using --ip command"
150 << " line option set by default to 192.168.1.1. " << std::endl;
151 return EXIT_FAILURE;
152 } catch (const std::exception &e) {
153 std::cout << "Franka exception: " << e.what() << std::endl;
154 return EXIT_FAILURE;
155 }
156
157 std::cout << "The end" << std::endl;
158 return EXIT_SUCCESS;
159}
160
161#else
162int main() { std::cout << "ViSP is not build with libfranka..." << std::endl; }
163#endif
Implementation of column vector and the associated operations.
error that can be emitted by ViSP classes.
Definition vpException.h:59
const char * what() const
Implementation of a matrix and operations on matrices.
Definition vpMatrix.h:152
vpMatrix pseudoInverse(double svThreshold=1e-6) const
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
void get_eJe(vpMatrix &eJe)
@ JOINT_STATE
Definition vpRobot.h:78
@ STATE_VELOCITY_CONTROL
Initialize the velocity controller.
Definition vpRobot.h:64
@ 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
VISP_EXPORT int wait(double t0, double t)
VISP_EXPORT double measureTimeSecond()