Visual Servoing Platform version 3.5.0
frankaMoveToPosition.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 * Franka robot tool.
33 *
34 *****************************************************************************/
35
41#include <iostream>
42
43#include <visp3/robot/vpRobotFranka.h>
44#include <visp3/core/vpIoTools.h>
45
46#if defined(VISP_HAVE_FRANKA)
47
48int main(int argc, char **argv)
49{
50 std::string opt_robot_ip = "192.168.1.1";
51 std::string opt_position_filename = "";
52
53 for (int i = 1; i < argc; i++) {
54 if (std::string(argv[i]) == "--ip" && i + 1 < argc) {
55 opt_robot_ip = std::string(argv[i + 1]);
56 }
57 else if (std::string(argv[i]) == "--read" && i + 1 < argc) {
58 opt_position_filename = std::string(argv[i + 1]);
59 }
60 else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
61 std::cout << "Move Panda robot to a position specified from a file." << std::endl;
62 std::cout << argv[0] << " [--ip <default " << opt_robot_ip << ">] [--read <position file name>] [--help] [-h]\n" << std::endl;
63 std::cout << "Example:\n" << argv[0] << " --ip 192.168.100.1 --read position.pos\n" << std::endl;
64
65 return EXIT_SUCCESS;
66 }
67 }
68
69 if (opt_position_filename.empty()) {
70 std::cout << "\nError: no position file given as input with --read option. " << std::endl;
71 std::cout << "Call \"" << argv[0] << " --help\" to get usage" << std::endl;
72 return EXIT_FAILURE;
73 }
74 if (! vpIoTools::checkFilename(opt_position_filename)) {
75 std::cout << "\nError: position filename \"" << opt_position_filename << "\" given as input doesn't exist. " << std::endl;
76 std::cout << "Call \"" << argv[0] << " --help\" to get usage" << std::endl;
77 return EXIT_FAILURE;
78 }
79
80 vpRobotFranka robot;
81
82 try {
83 robot.connect(opt_robot_ip);
84
85 robot.move(opt_position_filename);
86 }
87 catch(const vpException &e) {
88 std::cout << "ViSP exception: " << e.what() << std::endl;
89 std::cout << "Stop the robot " << std::endl;
91 return EXIT_FAILURE;
92 }
93 catch(const franka::NetworkException &e) {
94 std::cout << "Franka network exception: " << e.what() << std::endl;
95 std::cout << "Check if you are connected to the Franka robot"
96 << " or if you specified the right IP using --ip command line option set by default to 192.168.1.1. " << std::endl;
97 return EXIT_FAILURE;
98 }
99 catch(const std::exception &e) {
100 std::cout << "Franka exception: " << e.what() << std::endl;
101 return EXIT_FAILURE;
102 }
103
104 return 0;
105}
106#else
107int main()
108{
109#if !defined(VISP_HAVE_FRANKA)
110 std::cout << "Install libfranka." << std::endl;
111#endif
112 return 0;
113}
114#endif
115
error that can be emited by ViSP classes.
Definition: vpException.h:72
const char * what() const
static bool checkFilename(const std::string &filename)
Definition: vpIoTools.cpp:802
@ STATE_STOP
Stops robot motion especially in velocity and acceleration control.
Definition: vpRobot.h:65
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Definition: vpRobot.cpp:201