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 testFrankaJointVelocityLimits.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 std::cout << "Joint limits min: " << robot.getJointMin().t() << std::endl;
88 std::cout << "Joint limits max: " << robot.getJointMax().t() << std::endl;
89
90 /*
91 * Move in joint velocity
92 */
93 double vel = vpMath::rad(80.);
94 vpColVector dq_d(7, 0);
95 dq_d[4] = vel;
96 double delta_t = 10.0; // Time in second
97
98 std::cout << "Modify the maximum allowed joint velocity to: " << vel << " rad/s or " << vpMath::deg(vel) << " deg/s" << std::endl;
99 robot.setMaxRotationVelocity(vel);
100 std::cout << "Apply joint vel " << dq_d.t() << " for " << delta_t << " sec " << std::endl;
101 robot.setRobotState(vpRobot::STATE_VELOCITY_CONTROL);
102 robot.setVelocity(vpRobot::JOINT_STATE, dq_d);
103 vpTime::wait(delta_t*1000);
104
105 robot.getPosition(vpRobot::JOINT_STATE, q);
106 std::cout << "After " << delta_t << " sec reached joint position: " << q.t() << std::endl;
107
108 // Move in the other direction
109 dq_d = -dq_d;
110 std::cout << "Apply joint vel " << dq_d.t() << " for " << delta_t << " sec " << std::endl;
111 robot.setVelocity(vpRobot::JOINT_STATE, dq_d);
112 vpTime::wait(delta_t*1000);
113
114 robot.getPosition(vpRobot::JOINT_STATE, q);
115 std::cout << "After " << delta_t << " sec reached joint position: " << q.t() << std::endl;
116
117 // Move in the other direction
118 dq_d = -dq_d;
119 std::cout << "Apply joint vel " << dq_d.t() << " for " << delta_t << " sec " << std::endl;
120 robot.setVelocity(vpRobot::JOINT_STATE, dq_d);
121 vpTime::wait(delta_t*1000/2.);
122
123 robot.getPosition(vpRobot::JOINT_STATE, q);
124 std::cout << "After " << delta_t << " sec reached joint position: " << q.t() << std::endl;
125
126 std::cout << "Stop the robot " << std::endl;
127 robot.setRobotState(vpRobot::STATE_STOP);
128 }
129 catch(const vpException &e) {
130 std::cout << "ViSP exception: " << e.what() << std::endl;
131 return EXIT_FAILURE;
132 }
133 catch(const franka::NetworkException &e) {
134 std::cout << "Franka network exception: " << e.what() << std::endl;
135 std::cout << "Check if you are connected to the Franka robot"
136 << " or if you specified the right IP using --ip command"
137 << " line option set by default to 192.168.1.1. " << std::endl;
138 return EXIT_FAILURE;
139 }
140 catch(const std::exception &e) {
141 std::cout << "Franka exception: " << e.what() << std::endl;
142 return EXIT_FAILURE;
143 }
144
145 std::cout << "The end" << std::endl;
146 return EXIT_SUCCESS;
147 }
148
149 #else
main()150 int main()
151 {
152 std::cout << "ViSP is not build with libfranka..." << std::endl;
153 }
154 #endif
155