Visual Servoing Platform version 3.5.0
testFrankaCartForceTorque.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 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 http://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 * 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
53int main(int argc, char **argv)
54{
55 std::string robot_ip = "192.168.1.1";
56 std::string log_folder;
57
58 for (int i = 1; i < argc; i++) {
59 if (std::string(argv[i]) == "--ip" && i + 1 < argc) {
60 robot_ip = std::string(argv[i + 1]);
61 }
62 else if (std::string(argv[i]) == "--log_folder" && i + 1 < argc) {
63 log_folder = std::string(argv[i + 1]);
64 }
65 else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
66 std::cout << argv[0] << " [--ip 192.168.1.1] [--log_folder <folder>] [--help] [-h]"
67 << "\n";
68 return EXIT_SUCCESS;
69 }
70 }
71
72 try {
73 vpRobotFranka robot;
74 robot.setLogFolder(log_folder);
75 robot.connect(robot_ip);
76
77 std::cout << "WARNING: This example will move the robot! " << std::endl
78 << "- Please make sure to have the user stop button at hand!" << std::endl
79 << "- Please make also sure the end-effector is in contact with a flat surface such as a foam board!" << std::endl
80 << "Press Enter to continue..." << std::endl;
81 std::cin.ignore();
82
83 /*
84 * Apply joint torque
85 */
86 vpColVector ft_d(6, 0);
87 ft_d[2] = -2;
88
89 double t0 = vpTime::measureTimeSecond();
90 double delta_t = 12.0; // Time in second
91
92 std::cout << "Apply cartesian force/torque in a loop for " << delta_t/2. << " sec : " << ft_d.t() << std::endl;
94 do {
95 robot.setForceTorque(vpRobot::END_EFFECTOR_FRAME, ft_d); // No low level PI controller
96 if (vpTime::measureTimeSecond() - t0 > delta_t / 2.) {
97 ft_d[2] = -10;
98 static bool change_ft = true;
99 if (change_ft) {
100 std::cout << "Apply cartesian force/torque in a loop for " << delta_t/2. << " sec : " << ft_d.t() << 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 }
110 catch(const vpException &e) {
111 std::cout << "ViSP exception: " << e.what() << std::endl;
112 return EXIT_FAILURE;
113 }
114 catch(const franka::NetworkException &e) {
115 std::cout << "Franka network exception: " << e.what() << std::endl;
116 std::cout << "Check if you are connected to the Franka robot"
117 << " or if you specified the right IP using --ip command"
118 << " line option set by default to 192.168.1.1. " << std::endl;
119 return EXIT_FAILURE;
120 }
121 catch(const std::exception &e) {
122 std::cout << "Franka exception: " << e.what() << std::endl;
123 return EXIT_FAILURE;
124 }
125
126 std::cout << "The end" << std::endl;
127 return EXIT_SUCCESS;
128}
129
130#else
131int main()
132{
133 std::cout << "ViSP is not build with libfranka..." << std::endl;
134}
135#endif
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
error that can be emited by ViSP classes.
Definition: vpException.h:72
const char * what() const
@ END_EFFECTOR_FRAME
Definition: vpRobot.h:81
@ STATE_STOP
Stops robot motion especially in velocity and acceleration control.
Definition: vpRobot.h:65
@ STATE_FORCE_TORQUE_CONTROL
Initialize the force/torque controller.
Definition: vpRobot.h:69
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Definition: vpRobot.cpp:201
VISP_EXPORT int wait(double t0, double t)
VISP_EXPORT double measureTimeSecond()