Visual Servoing Platform  version 3.2.0
testFrankaCartVelocity-2.cpp
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30  *
31  * Description:
32  * Test Franka robot behavior
33  *
34  * Authors:
35  * Fabien Spindler
36  *
37  *****************************************************************************/
38 
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 
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.setPositioningVelocity(10.);
87 
88  /*
89  * Move in cartesian velocity
90  */
91  double t0 = vpTime::measureTimeSecond();
92  double delta_t = 4.0; // Time in second
93  vpColVector qdot;
94  vpColVector ve(6);
95  // ve[0] = -0.01; // vx goes toward the user
96  // ve[1] = 0.01; // vy goes left
97  ve[2] = 0.04; // vz goes down
98  // ve[3] = vpMath::rad(5); // wx
99  // ve[4] = vpMath::rad(5); // wy
100  // ve[5] = vpMath::rad(5); // wz
101 
102  std::cout << "Apply cartesian vel in a loop for " << delta_t << " sec : " << ve.t() << std::endl;
104  do {
105  vpMatrix eJe;
106  robot.get_eJe(eJe);
107 
108  // Turn elbow off
109  // for(size_t i=0; i<6; i++) {
110  // eJe[i][2] = 0.0;
111  // }
112 
113  vpColVector qdot = eJe.pseudoInverse() * ve;
114 
115  robot.setVelocity(vpRobot::JOINT_STATE, qdot);
116  vpTime::wait(100);
117  } while (vpTime::measureTimeSecond() - t0 < delta_t);
118 
119  // ve[0] = -0.01; // vx goes toward the user
120  // ve[1] = -0.01; // vy goes left
121  ve[2] = -0.02; // vz goes down
122  // ve[3] = vpMath::rad(5); // wx
123  // ve[4] = vpMath::rad(5); // wy
124  // ve[5] = vpMath::rad(5); // wz
125  std::cout << "Apply cartesian vel in a loop for " << delta_t << " sec : " << ve.t() << std::endl;
127  do {
128  vpMatrix eJe;
129  robot.get_eJe(eJe);
130 
131  // Turn elbow off
132  // for(size_t i=0; i<6; i++) {
133  // eJe[i][2] = 0.0;
134  // }
135 
136  vpColVector qdot = eJe.pseudoInverse() * ve;
137 
138  robot.setVelocity(vpRobot::JOINT_STATE, qdot);
139  vpTime::wait(100);
140  } while (vpTime::measureTimeSecond() - t0 < delta_t);
141 
142  std::cout << "Ask to stop the robot " << std::endl;
144  }
145  catch(const vpException &e) {
146  std::cout << "ViSP exception: " << e.what() << std::endl;
147  return EXIT_FAILURE;
148  }
149  catch(const franka::NetworkException &e) {
150  std::cout << "Franka network exception: " << e.what() << std::endl;
151  std::cout << "Check if you are connected to the Franka robot"
152  << " or if you specified the right IP using --ip command"
153  << " line option set by default to 192.168.1.1. " << std::endl;
154  return EXIT_FAILURE;
155  }
156  catch(const std::exception &e) {
157  std::cout << "Franka exception: " << e.what() << std::endl;
158  return EXIT_FAILURE;
159  }
160 
161  std::cout << "The end" << std::endl;
162  return EXIT_SUCCESS;
163 }
164 
165 #else
166 int main()
167 {
168  std::cout << "ViSP is not build with libfranka..." << std::endl;
169 }
170 #endif
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:104
vpMatrix pseudoInverse(double svThreshold=1e-6) const
Definition: vpMatrix.cpp:1932
VISP_EXPORT int wait(double t0, double t)
Definition: vpTime.cpp:150
vpRobot::vpRobotStateType setRobotState(vpRobot::vpRobotStateType newState)
VISP_EXPORT double measureTimeSecond()
Definition: vpTime.cpp:250
error that can be emited by ViSP classes.
Definition: vpException.h:71
Initialize the velocity controller.
Definition: vpRobot.h:67
void get_eJe(vpMatrix &eJe)
const char * what() const
Implementation of column vector and the associated operations.
Definition: vpColVector.h:72
void setPositioningVelocity(const double velocity)
void connect(const std::string &franka_address, franka::RealtimeConfig realtime_config=franka::RealtimeConfig::kEnforce)
void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &position)