Visual Servoing Platform version 3.5.0
vpRobotFranka.h
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3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
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10 * See the file LICENSE.txt at the root directory of this source
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14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
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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
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26 * Inria at visp@inria.fr
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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 * Interface for the Franka robot.
33 *
34 * Authors:
35 * Fabien Spindler
36 *
37 *****************************************************************************/
38
39#ifndef _vpRobotFranka_h_
40#define _vpRobotFranka_h_
41
42#include <visp3/core/vpConfig.h>
43
44#ifdef VISP_HAVE_FRANKA
45
46#include <iostream>
47#include <thread>
48#include <atomic>
49#include <vector>
50
51#include <stdio.h>
52
53#include <franka/exception.h>
54#include <franka/robot.h>
55#include <franka/model.h>
56#include <franka/gripper.h>
57
58#include <visp3/core/vpColVector.h>
59#include <visp3/robot/vpRobot.h>
60#include <visp3/core/vpException.h>
61
223class VISP_EXPORT vpRobotFranka : public vpRobot
224{
225private:
229 vpRobotFranka(const vpRobotFranka &robot);
234
235 void init();
236
237 franka::Robot *m_handler;
238 franka::Gripper *m_gripper;
239 franka::Model *m_model;
240 double m_positionningVelocity;
241
242 // Velocity controller
243 std::thread m_velControlThread;
244 std::atomic_bool m_velControlThreadIsRunning;
245 std::atomic_bool m_velControlThreadStopAsked;
246 std::array<double, 7> m_dq_des; // Desired joint velocity
247 vpColVector m_v_cart_des; // Desired cartesian velocity either in reference, end-effector, camera, or tool frame
248
249 // Force/torque controller
250 std::thread m_ftControlThread;
251 std::atomic_bool m_ftControlThreadIsRunning;
252 std::atomic_bool m_ftControlThreadStopAsked;
253 std::array<double, 7> m_tau_J_des; // Desired joint torques
254 vpColVector m_ft_cart_des; // Desired cartesian force/torque either in reference, end-effector, camera, or tool frame
255
256 std::array<double, 7> m_q_min; // Joint min position
257 std::array<double, 7> m_q_max; // Joint max position
258 std::array<double, 7> m_dq_max; // Joint max velocity
259 std::array<double, 7> m_ddq_max; // Joint max acceleration
260
261 franka::RobotState m_robot_state; // Robot state protected by mutex
262 std::mutex m_mutex; // Mutex to protect m_robot_state
263
265 std::string m_log_folder;
266 std::string m_franka_address;
267
268public:
270
271 vpRobotFranka(const std::string &franka_address,
272 franka::RealtimeConfig realtime_config = franka::RealtimeConfig::kEnforce);
273
274 virtual ~vpRobotFranka();
275
276 void connect(const std::string &franka_address,
277 franka::RealtimeConfig realtime_config = franka::RealtimeConfig::kEnforce);
278
279 vpHomogeneousMatrix get_fMe(const vpColVector &q);
280 vpHomogeneousMatrix get_fMc(const vpColVector &q);
281 vpHomogeneousMatrix get_eMc() const;
282
283 void get_eJe(vpMatrix &eJe);
284 void get_eJe(const vpColVector &q, vpMatrix &eJe);
285 void get_fJe(vpMatrix &fJe);
286 void get_fJe(const vpColVector &q, vpMatrix &fJe);
287
288 void getCoriolis(vpColVector &coriolis);
289 void getForceTorque(const vpRobot::vpControlFrameType frame, vpColVector &force);
290
291 void getGravity(vpColVector &gravity);
292
293 franka::RobotState getRobotInternalState();
294
300 franka::Gripper *getGripperHandler() {
301 if (!m_gripper) {
302 throw(vpException(vpException::fatalError, "Cannot get Franka gripper handler: gripper is not connected"));
303 }
304
305 return m_gripper;
306 }
307
308
314 franka::Robot *getHandler() {
315 if (!m_handler) {
316 throw(vpException(vpException::fatalError, "Cannot get Franka robot handler: robot is not connected"));
317 }
318
319 return m_handler;
320 }
321
322 vpColVector getJointMin() const;
323 vpColVector getJointMax() const;
324
325 void getMass(vpMatrix &mass);
326
327 void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position);
329
330 void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &d_position);
331
332 int gripperClose();
333 int gripperGrasp(double grasping_width, double force=60.);
334 void gripperHoming();
335 int gripperMove(double width);
336 int gripperOpen();
337 void gripperRelease();
338
339 void move(const std::string &filename, double velocity_percentage=10.);
340
341 bool readPosFile(const std::string &filename, vpColVector &q);
342 bool savePosFile(const std::string &filename, const vpColVector &q);
343
344 void set_eMc(const vpHomogeneousMatrix &eMc);
345 void setForceTorque(const vpRobot::vpControlFrameType frame, const vpColVector &ft,
346 const double &filter_gain=0.1, const bool &activate_pi_controller=false);
347 void setLogFolder(const std::string &folder);
348 void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &position);
349 void setPositioningVelocity(double velocity);
350
352 void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel);
353
354 void stopMotion();
355};
356
357#endif
358#endif // #ifndef __vpRobotFranka_h_
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
error that can be emited by ViSP classes.
Definition: vpException.h:72
@ fatalError
Fatal error.
Definition: vpException.h:96
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:154
Implementation of a pose vector and operations on poses.
Definition: vpPoseVector.h:152
franka::Robot * getHandler()
franka::Gripper * getGripperHandler()
Class that defines a generic virtual robot.
Definition: vpRobot.h:59
virtual void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
Get the robot position (frame has to be specified).
vpControlFrameType
Definition: vpRobot.h:75
virtual void get_eJe(vpMatrix &_eJe)=0
Get the robot Jacobian expressed in the end-effector frame.
virtual void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)=0
vpRobotStateType
Definition: vpRobot.h:64
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Definition: vpRobot.cpp:201
virtual void init()=0
virtual void get_fJe(vpMatrix &_fJe)=0
virtual void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
virtual void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q)=0
Set a displacement (frame has to be specified) in position control.