Visual Servoing Platform version 3.6.0
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frankaGripper.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 * Franka robot tool.
33 *
34*****************************************************************************/
35
41#include <iostream>
42
43#include <visp3/robot/vpRobotFranka.h>
44
45#if defined(VISP_HAVE_FRANKA)
46
47typedef enum {
48 Gripper_Home,
49 Gripper_Open,
50 Gripper_Close,
51 Gripper_Grasp,
52 Gripper_Release,
53 Gripper_Test,
54 Gripper_None
55} GripperState_t;
56
57int main(int argc, char **argv)
58{
59 std::string opt_robot_ip = "192.168.1.1";
60 double opt_grasping_width = 0.;
61 GripperState_t opt_gripper_state = Gripper_None;
62
63 for (int i = 1; i < argc; i++) {
64 if (std::string(argv[i]) == "--ip" && i + 1 < argc) {
65 opt_robot_ip = std::string(argv[i + 1]);
66 } else if (std::string(argv[i]) == "--home") {
67 opt_gripper_state = Gripper_Home;
68 } else if (std::string(argv[i]) == "--open") {
69 opt_gripper_state = Gripper_Open;
70 } else if (std::string(argv[i]) == "--close") {
71 opt_gripper_state = Gripper_Close;
72 } else if (std::string(argv[i]) == "--grasp" && i + 1 < argc) {
73 opt_gripper_state = Gripper_Grasp;
74 opt_grasping_width = std::atof(argv[i + 1]);
75 } else if (std::string(argv[i]) == "--test" && i + 1 < argc) {
76 opt_gripper_state = Gripper_Test;
77 opt_grasping_width = std::atof(argv[i + 1]);
78 } else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
79 std::cout << "Control Panda gripper." << std::endl;
80 std::cout << argv[0] << " [--ip <default " << opt_robot_ip
81 << ">] [--home] [--open] [--close] [--grasp <object width in meter>] [--release] [--test <object width "
82 "in meter>] [--help] [-h]\n"
83 << std::endl;
84 std::cout << "Example to grasp a 4cm width object by first opening the gripper, then grasping the object :\n"
85 << argv[0] << " --ip 192.168.100.1 --open\n"
86 << argv[0] << " --ip 192.168.100.1 --grasp 0.04\n"
87 << std::endl;
88
89 return EXIT_SUCCESS;
90 }
91 }
92
93 if (opt_gripper_state == Gripper_None) {
94 std::cout << "Specify which action you want to achieve. Run \"" << argv[0]
95 << " --help\" to see how to use this binary." << std::endl;
96 return EXIT_SUCCESS;
97 } else if ((opt_gripper_state == Gripper_Grasp || opt_gripper_state == Gripper_Test) && opt_grasping_width <= 0) {
98 std::cout << "Object with in meter should be > 0. Run \"" << argv[0] << " --help\" to see how to use this binary."
99 << std::endl;
100 return EXIT_SUCCESS;
101 }
102
103 vpRobotFranka robot;
104
105 try {
106 robot.connect(opt_robot_ip);
107
108 if (opt_gripper_state == Gripper_Home) {
109 std::cout << "Gripper homing..." << std::endl;
110 robot.gripperHoming();
111 } else if (opt_gripper_state == Gripper_Close) {
112 std::cout << "Gripper closing..." << std::endl;
113 robot.gripperClose();
114 } else if (opt_gripper_state == Gripper_Open) {
115 std::cout << "Gripper opening..." << std::endl;
116 robot.gripperOpen();
117 } else if (opt_gripper_state == Gripper_Grasp) {
118 std::cout << "Gripper grasp " << opt_grasping_width << "m object width..." << std::endl;
119 robot.gripperGrasp(opt_grasping_width);
120 } else if (opt_gripper_state == Gripper_Release) {
121 std::cout << "Gripper release object..." << std::endl;
122 robot.gripperRelease();
123 } else if (opt_gripper_state == Gripper_Test) {
124 std::cout << "Test gripper performing the following actions:" << std::endl;
125 std::cout << "- Gripper homing..." << std::endl;
126 robot.gripperHoming();
127 vpTime::sleepMs(1000);
128 std::cout << "- Gripper closing..." << std::endl;
129 robot.gripperClose();
130 vpTime::sleepMs(1000);
131 std::cout << "- Gripper open 5cm..." << std::endl;
132 robot.gripperMove(0.05);
133 vpTime::sleepMs(3000);
134 std::cout << "- Gripper opening..." << std::endl;
135 robot.gripperOpen();
136 vpTime::sleepMs(3000);
137 std::cout << "- Gripper grasp " << opt_grasping_width << "m object width..." << std::endl;
138 robot.gripperGrasp(opt_grasping_width);
139 vpTime::sleepMs(3000);
140 std::cout << "- Gripper release object..." << std::endl;
141 robot.gripperRelease();
142 }
143 std::cout << "The end!" << std::endl;
144 } catch (const vpException &e) {
145 std::cout << "ViSP exception: " << e.what() << std::endl;
146 return EXIT_FAILURE;
147 } catch (const franka::NetworkException &e) {
148 std::cout << "Franka network exception: " << e.what() << std::endl;
149 std::cout << "Check if you are connected to the Franka robot"
150 << " or if you specified the right IP using --ip command line option set by default to 192.168.1.1. "
151 << std::endl;
152 return EXIT_FAILURE;
153 } catch (const std::exception &e) {
154 std::cout << "Franka exception: " << e.what() << std::endl;
155 return EXIT_FAILURE;
156 }
157
158 return EXIT_SUCCESS;
159}
160#else
161int main()
162{
163#if !defined(VISP_HAVE_FRANKA)
164 std::cout << "Install libfranka 3rd party, configure and build again ViSP to use this example..." << std::endl;
165#endif
166 return EXIT_SUCCESS;
167}
168#endif
error that can be emitted by ViSP classes.
Definition vpException.h:59
const char * what() const
VISP_EXPORT void sleepMs(double t)