Visual Servoing Platform version 3.6.0
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testFrankaCartForceTorque-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.setLogFolder(log_folder);
70 robot.connect(robot_ip);
71
72 std::cout << "WARNING: This example will move the robot! " << std::endl
73 << "- Please make sure to have the user stop button at hand!" << std::endl
74 << "- Please make also sure the end-effector is in contact with a flat surface such as a foam board!"
75 << std::endl
76 << "Press Enter to continue..." << std::endl;
77 std::cin.ignore();
78
79 /*
80 * Apply joint torque
81 */
82 vpColVector ft_d(6, 0);
83 ft_d[2] = -2;
84
85 double t0 = vpTime::measureTimeSecond();
86 double delta_t = 12.0; // Time in second
87
88 std::cout << "Apply cartesian force/torque in a loop for " << delta_t / 2. << " sec : " << ft_d.t() << std::endl;
90 double filter_gain = 0.15;
91 bool activate_pi_controller = true;
92 do {
93 robot.setForceTorque(vpRobot::END_EFFECTOR_FRAME, ft_d, filter_gain,
94 activate_pi_controller); // Use low level PI controller
95 if (vpTime::measureTimeSecond() - t0 > delta_t / 2.) {
96 ft_d[2] = -10;
97 static bool change_ft = true;
98 if (change_ft) {
99 std::cout << "Apply cartesian force/torque in a loop for " << delta_t / 2. << " sec : " << ft_d.t()
100 << std::endl;
101 }
102 change_ft = false;
103 }
104 vpTime::wait(10); // wait 10 ms
105 } while (vpTime::measureTimeSecond() - t0 < delta_t);
106
108 vpTime::wait(100);
109 } catch (const vpException &e) {
110 std::cout << "ViSP exception: " << e.what() << std::endl;
111 return EXIT_FAILURE;
112 } catch (const franka::NetworkException &e) {
113 std::cout << "Franka network exception: " << e.what() << std::endl;
114 std::cout << "Check if you are connected to the Franka robot"
115 << " or if you specified the right IP using --ip command"
116 << " line option set by default to 192.168.1.1. " << std::endl;
117 return EXIT_FAILURE;
118 } catch (const std::exception &e) {
119 std::cout << "Franka exception: " << e.what() << std::endl;
120 return EXIT_FAILURE;
121 }
122
123 std::cout << "The end" << std::endl;
124 return EXIT_SUCCESS;
125}
126
127#else
128int main() { std::cout << "ViSP is not build with libfranka..." << std::endl; }
129#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
@ END_EFFECTOR_FRAME
Definition vpRobot.h:79
@ STATE_STOP
Stops robot motion especially in velocity and acceleration control.
Definition vpRobot.h:63
@ STATE_FORCE_TORQUE_CONTROL
Initialize the force/torque controller.
Definition vpRobot.h:67
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Definition vpRobot.cpp:198
VISP_EXPORT int wait(double t0, double t)
VISP_EXPORT double measureTimeSecond()