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 testFrankaJointVelocity-3.cpp
41 
42   Test Panda robot from Franka Emika joint 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 
57   for (int i = 1; i < argc; i++) {
58     if (std::string(argv[i]) == "--ip" && i + 1 < argc) {
59       robot_ip = std::string(argv[i + 1]);
60     }
61     else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
62       std::cout << argv[0] << " [--ip 192.168.1.1] [--help] [-h]"
63                            << "\n";
64       return EXIT_SUCCESS;
65     }
66   }
67 
68   try {
69     vpRobotFranka robot;
70     robot.connect(robot_ip);
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.setPosition(vpRobot::JOINT_STATE, q);
86 
87     /*
88      * Move in joint velocity
89      */
90     vpColVector dq_d(7, 0);
91     dq_d[0] = vpMath::rad(-2.);
92     dq_d[1] = vpMath::rad(3.);
93     dq_d[2] = vpMath::rad(-4.);
94     dq_d[3] = vpMath::rad(3.);
95     dq_d[4] = vpMath::rad(-3.);
96     dq_d[5] = vpMath::rad(4.);
97     dq_d[6] = vpMath::rad(6.);
98     double t0 = vpTime::measureTimeSecond();
99     double delta_t = 4.0; // Time in second
100 
101     std::cout << "Apply joint vel in a loop for " << delta_t << " sec : " << dq_d.t() << std::endl;
102     robot.setRobotState(vpRobot::STATE_VELOCITY_CONTROL);
103 
104     int n_increment = 100;
105     double delta_dq_d_max = vpMath::rad(5.);
106     do {
107       vpColVector dq_d_(7, 0);
108 
109       for (int inc=0; inc < n_increment; inc ++) {
110         if (vpTime::measureTimeSecond() - t0 < (1+inc) * delta_t / n_increment ) {
111           for (size_t i=0; i < 7; i++) {
112             if (dq_d[i] < 0)
113               dq_d_[i] = dq_d[i] - inc * delta_dq_d_max/(n_increment);
114             else
115               dq_d_[i] = dq_d[i] + inc * delta_dq_d_max/(n_increment);
116 
117           }
118           break;
119         }
120       }
121       robot.setVelocity(vpRobot::JOINT_STATE, dq_d_);
122 
123       vpTime::wait(10);
124     } while (vpTime::measureTimeSecond() - t0 < delta_t);
125 
126     for (size_t i=0; i < 7; i++)
127       dq_d[i] = -dq_d[i];
128 
129     std::cout << "Apply new joint vel for " << delta_t << " sec : " << dq_d.t() << std::endl;
130     robot.setVelocity(vpRobot::JOINT_STATE, dq_d);
131     vpTime::wait(4*1000);
132 
133     std::cout << "Ask to stop the robot " << std::endl;
134     robot.setRobotState(vpRobot::STATE_STOP);
135   }
136   catch(const vpException &e) {
137     std::cout << "ViSP exception: " << e.what() << std::endl;
138     return EXIT_FAILURE;
139   }
140   catch(const franka::NetworkException &e) {
141     std::cout << "Franka network exception: " << e.what() << std::endl;
142     std::cout << "Check if you are connected to the Franka robot"
143               << " or if you specified the right IP using --ip command"
144               << " line option set by default to 192.168.1.1. " << std::endl;
145     return EXIT_FAILURE;
146   }
147   catch(const std::exception &e) {
148     std::cout << "Franka exception: " << e.what() << std::endl;
149     return EXIT_FAILURE;
150   }
151 
152   std::cout << "The end" << std::endl;
153   return EXIT_SUCCESS;
154 }
155 
156 #else
main()157 int main()
158 {
159   std::cout << "ViSP is not build with libfranka..." << std::endl;
160 }
161 #endif
162