Visual Servoing Platform version 3.6.0
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testFrankaJointVelocityLimits.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;
80 std::cout << "Move to joint position: " << q.t() << std::endl;
81 robot.setPosition(vpRobot::JOINT_STATE, q);
82
83 std::cout << "Joint limits min: " << robot.getJointMin().t() << std::endl;
84 std::cout << "Joint limits max: " << robot.getJointMax().t() << std::endl;
85
86 /*
87 * Move in joint velocity
88 */
89 double vel = vpMath::rad(80.);
90 vpColVector dq_d(7, 0);
91 dq_d[4] = vel;
92 double delta_t = 10.0; // Time in second
93
94 std::cout << "Modify the maximum allowed joint velocity to: " << vel << " rad/s or " << vpMath::deg(vel) << " deg/s"
95 << std::endl;
96 robot.setMaxRotationVelocity(vel);
97 std::cout << "Apply joint vel " << dq_d.t() << " for " << delta_t << " sec " << std::endl;
100 vpTime::wait(delta_t * 1000);
101
102 robot.getPosition(vpRobot::JOINT_STATE, q);
103 std::cout << "After " << delta_t << " sec reached joint position: " << q.t() << std::endl;
104
105 // Move in the other direction
106 dq_d = -dq_d;
107 std::cout << "Apply joint vel " << dq_d.t() << " for " << delta_t << " sec " << std::endl;
109 vpTime::wait(delta_t * 1000);
110
111 robot.getPosition(vpRobot::JOINT_STATE, q);
112 std::cout << "After " << delta_t << " sec reached joint position: " << q.t() << std::endl;
113
114 // Move in the other direction
115 dq_d = -dq_d;
116 std::cout << "Apply joint vel " << dq_d.t() << " for " << delta_t << " sec " << std::endl;
118 vpTime::wait(delta_t * 1000 / 2.);
119
120 robot.getPosition(vpRobot::JOINT_STATE, q);
121 std::cout << "After " << delta_t << " sec reached joint position: " << q.t() << std::endl;
122
123 std::cout << "Stop the robot " << std::endl;
125 } catch (const vpException &e) {
126 std::cout << "ViSP exception: " << e.what() << std::endl;
127 return EXIT_FAILURE;
128 } catch (const franka::NetworkException &e) {
129 std::cout << "Franka network exception: " << e.what() << std::endl;
130 std::cout << "Check if you are connected to the Franka robot"
131 << " or if you specified the right IP using --ip command"
132 << " line option set by default to 192.168.1.1. " << std::endl;
133 return EXIT_FAILURE;
134 } catch (const std::exception &e) {
135 std::cout << "Franka exception: " << e.what() << std::endl;
136 return EXIT_FAILURE;
137 }
138
139 std::cout << "The end" << std::endl;
140 return EXIT_SUCCESS;
141}
142
143#else
144int main() { std::cout << "ViSP is not build with libfranka..." << std::endl; }
145#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
static double rad(double deg)
Definition vpMath.h:116
static double deg(double rad)
Definition vpMath.h:106
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
@ JOINT_STATE
Definition vpRobot.h:78
@ STATE_VELOCITY_CONTROL
Initialize the velocity controller.
Definition vpRobot.h:64
@ STATE_STOP
Stops robot motion especially in velocity and acceleration control.
Definition vpRobot.h:63
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Definition vpRobot.cpp:198
void setMaxRotationVelocity(double maxVr)
Definition vpRobot.cpp:257
VISP_EXPORT int wait(double t0, double t)