Visual Servoing Platform version 3.6.0
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testUniversalRobotsJointVelocity.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 Universal Robots robot behavior
33 *
34*****************************************************************************/
35
42#include <iostream>
43
44#include <visp3/core/vpConfig.h>
45
46#if defined(VISP_HAVE_UR_RTDE) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
47
48#include <visp3/robot/vpRobotUniversalRobots.h>
49
50int main(int argc, char **argv)
51{
52 std::string robot_ip = "192.168.0.100";
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 " << robot_ip << "] [--help] [-h]"
59 << "\n";
60 return EXIT_SUCCESS;
61 }
62 }
63
64 try {
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(6, 0);
77 q[0] = 0;
78 q[1] = -M_PI_2;
79 q[2] = M_PI_2;
80 q[3] = -M_PI_2;
81 q[4] = -M_PI_2;
82 q[5] = 0;
83 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(6, 0);
91 dq_d[4] = vpMath::rad(-20.);
92 dq_d[5] = vpMath::rad(20.);
93 double t0 = vpTime::measureTimeSecond();
94 double delta_t = 4.0; // Time in second
95
96 std::cout << "Apply joint vel in a loop for " << delta_t << " sec : " << dq_d.t() << std::endl;
98
99 do {
101
102 vpTime::wait(10);
103 } while (vpTime::measureTimeSecond() - t0 < delta_t);
104
106 vpTime::wait(100);
108
109 dq_d[4] = -dq_d[4];
110 dq_d[5] = -dq_d[5];
111 std::cout << "Apply new joint vel for " << delta_t << " sec : " << dq_d.t() << std::endl;
113 vpTime::wait(4 * 1000);
114
115 std::cout << "Ask to stop the robot " << std::endl;
117 } catch (const vpException &e) {
118 std::cout << "ViSP exception: " << e.what() << std::endl;
119 return EXIT_FAILURE;
120 } catch (const std::exception &e) {
121 std::cout << "ur_rtde exception: " << e.what() << std::endl;
122 return EXIT_FAILURE;
123 }
124
125 std::cout << "The end" << std::endl;
126 return EXIT_SUCCESS;
127}
128
129#else
130int main()
131{
132#if !defined(VISP_HAVE_UR_RTDE)
133 std::cout << "ViSP is not build with libur_rtde 3rd party used to control a robot from Universal Robots..."
134 << std::endl;
135#endif
136#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
137 std::cout << "Build ViSP with c++11 or higher compiler flag (cmake -DUSE_CXX_STANDARD=11)." << std::endl;
138#endif
139}
140#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_POSITION_CONTROL
Initialize the position controller.
Definition vpRobot.h:65
@ 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()