1 /****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 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 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
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 * Authors:
35 * Fabien Spindler
36 *
37 *****************************************************************************/
38
39 /*!
40 \example testFrankaCartVelocity-3.cpp
41
42 Test Panda robot from Franka Emika cartesian velocity controller implemented in vpRobotFranka.
43 */
44
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
main(int argc,char ** argv)53 int 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 qdot;
99 vpColVector vc(6);
100 // vc[0] = -0.01; // vx goes toward the user
101 // vc[1] = 0.01; // vy goes left
102 vc[2] = 0.04; // vz goes down
103 // vc[3] = vpMath::rad(5); // wx
104 // vc[4] = vpMath::rad(5); // wy
105 // vc[5] = vpMath::rad(5); // wz
106
107 vpHomogeneousMatrix eMc;
108 robot.set_eMc(eMc);
109
110 std::cout << "Apply cartesian vel in a loop for " << delta_t << " sec : " << vc.t() << std::endl;
111 robot.setRobotState(vpRobot::STATE_VELOCITY_CONTROL);
112 do {
113 robot.setVelocity(vpRobot::CAMERA_FRAME, vc);
114 vpTime::wait(100);
115 } while (vpTime::measureTimeSecond() - t0 < delta_t);
116
117 // vc[0] = -0.01; // vx goes toward the user
118 // ve[1] = -0.01; // vy goes left
119 vc[2] = -0.02; // vz goes down
120 // vc[3] = vpMath::rad(5); // wx
121 // vc[4] = vpMath::rad(5); // wy
122 // vc[5] = vpMath::rad(5); // wz
123 std::cout << "Apply cartesian vel in a loop for " << delta_t << " sec : " << vc.t() << std::endl;
124 t0 = vpTime::measureTimeSecond();
125 do {
126 robot.setVelocity(vpRobot::CAMERA_FRAME, vc);
127 vpTime::wait(100);
128 } while (vpTime::measureTimeSecond() - t0 < delta_t);
129
130 std::cout << "Ask to stop the robot " << std::endl;
131 robot.setRobotState(vpRobot::STATE_STOP);
132 }
133 catch(const vpException &e) {
134 std::cout << "ViSP exception: " << e.what() << std::endl;
135 return EXIT_FAILURE;
136 }
137 catch(const franka::NetworkException &e) {
138 std::cout << "Franka network exception: " << e.what() << std::endl;
139 std::cout << "Check if you are connected to the Franka robot"
140 << " or if you specified the right IP using --ip command"
141 << " line option set by default to 192.168.1.1. " << std::endl;
142 return EXIT_FAILURE;
143 }
144 catch(const std::exception &e) {
145 std::cout << "Franka exception: " << e.what() << std::endl;
146 return EXIT_FAILURE;
147 }
148
149 std::cout << "The end" << std::endl;
150 return EXIT_SUCCESS;
151 }
152
153 #else
main()154 int main()
155 {
156 std::cout << "ViSP is not build with libfranka..." << std::endl;
157 }
158 #endif
159