Visual Servoing Platform version 3.6.0
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testFrankaJointVelocity-3.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
54 for (int i = 1; i < argc; i++) {
55 if (std::string(argv[i]) == "--ip" && i + 1 < argc) {
56 robot_ip = std::string(argv[i + 1]);
57 } else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
58 std::cout << argv[0] << " [--ip 192.168.1.1] [--help] [-h]"
59 << "\n";
60 return EXIT_SUCCESS;
61 }
62 }
63
64 try {
65 vpRobotFranka robot;
66 robot.connect(robot_ip);
67
68 std::cout << "WARNING: This example will move the robot! "
69 << "Please make sure to have the user stop button at hand!" << std::endl
70 << "Press Enter to continue..." << std::endl;
71 std::cin.ignore();
72
73 /*
74 * Move to a safe position
75 */
76 vpColVector q(7, 0);
77 q[3] = -M_PI_2;
78 q[5] = M_PI_2;
79 q[6] = M_PI_4;
80 std::cout << "Move to joint position: " << q.t() << std::endl;
81 robot.setPosition(vpRobot::JOINT_STATE, q);
82
83 /*
84 * Move in joint velocity
85 */
86 vpColVector dq_d(7, 0);
87 dq_d[0] = vpMath::rad(-2.);
88 dq_d[1] = vpMath::rad(3.);
89 dq_d[2] = vpMath::rad(-4.);
90 dq_d[3] = vpMath::rad(3.);
91 dq_d[4] = vpMath::rad(-3.);
92 dq_d[5] = vpMath::rad(4.);
93 dq_d[6] = vpMath::rad(6.);
94 double t0 = vpTime::measureTimeSecond();
95 double delta_t = 4.0; // Time in second
96
97 std::cout << "Apply joint vel in a loop for " << delta_t << " sec : " << dq_d.t() << std::endl;
99
100 int n_increment = 100;
101 double delta_dq_d_max = vpMath::rad(5.);
102 do {
103 vpColVector dq_d_(7, 0);
104
105 for (int inc = 0; inc < n_increment; inc++) {
106 if (vpTime::measureTimeSecond() - t0 < (1 + inc) * delta_t / n_increment) {
107 for (size_t i = 0; i < 7; i++) {
108 if (dq_d[i] < 0)
109 dq_d_[i] = dq_d[i] - inc * delta_dq_d_max / (n_increment);
110 else
111 dq_d_[i] = dq_d[i] + inc * delta_dq_d_max / (n_increment);
112 }
113 break;
114 }
115 }
116 robot.setVelocity(vpRobot::JOINT_STATE, dq_d_);
117
118 vpTime::wait(10);
119 } while (vpTime::measureTimeSecond() - t0 < delta_t);
120
121 for (size_t i = 0; i < 7; i++)
122 dq_d[i] = -dq_d[i];
123
124 std::cout << "Apply new joint vel for " << delta_t << " sec : " << dq_d.t() << std::endl;
126 vpTime::wait(4 * 1000);
127
128 std::cout << "Ask to stop the robot " << std::endl;
130 } catch (const vpException &e) {
131 std::cout << "ViSP exception: " << e.what() << std::endl;
132 return EXIT_FAILURE;
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 } catch (const std::exception &e) {
140 std::cout << "Franka exception: " << e.what() << std::endl;
141 return EXIT_FAILURE;
142 }
143
144 std::cout << "The end" << std::endl;
145 return EXIT_SUCCESS;
146}
147
148#else
149int main() { std::cout << "ViSP is not build with libfranka..." << std::endl; }
150#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
static double rad(double deg)
Definition vpMath.h:116
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
@ 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()