Visual Servoing Platform version 3.6.0
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testFrankaJointPosition.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;
81 std::cout << "Move to joint position: " << q.t() << std::endl;
82 robot.setPosition(vpRobot::JOINT_STATE, q);
83 } catch (const vpException &e) {
84 std::cout << "ViSP exception: " << e.what() << std::endl;
85 return EXIT_FAILURE;
86 } catch (const franka::NetworkException &e) {
87 std::cout << "Franka network exception: " << e.what() << std::endl;
88 std::cout << "Check if you are connected to the Franka robot"
89 << " or if you specified the right IP using --ip command"
90 << " line option set by default to 192.168.1.1. " << std::endl;
91 return EXIT_FAILURE;
92 } catch (const std::exception &e) {
93 std::cout << "Franka exception: " << e.what() << std::endl;
94 return EXIT_FAILURE;
95 }
96
97 std::cout << "The end" << std::endl;
98 return EXIT_SUCCESS;
99}
100
101#else
102int main() { std::cout << "ViSP is not build with libfranka..." << std::endl; }
103#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
@ JOINT_STATE
Definition vpRobot.h:78
@ STATE_POSITION_CONTROL
Initialize the position controller.
Definition vpRobot.h:65
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Definition vpRobot.cpp:198