1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
|
/****************************************************************************
*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2019 by Inria. All rights reserved.
*
* This software is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact Inria about acquiring a ViSP Professional
* Edition License.
*
* See http://visp.inria.fr for more information.
*
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
*
* If you have questions regarding the use of this file, please contact
* Inria at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
* Description:
* Test Franka robot behavior
*
* Authors:
* Fabien Spindler
*
*****************************************************************************/
/*!
\example testFrankaCartForceTorque-2.cpp
Test Panda robot from Franka Emika cartesian force/torque controller implemented in vpRobotFranka.
*/
#include <iostream>
#include <visp3/core/vpConfig.h>
#if defined(VISP_HAVE_FRANKA)
#include <visp3/robot/vpRobotFranka.h>
int main(int argc, char **argv)
{
std::string robot_ip = "192.168.1.1";
std::string log_folder;
for (int i = 1; i < argc; i++) {
if (std::string(argv[i]) == "--ip" && i + 1 < argc) {
robot_ip = std::string(argv[i + 1]);
}
else if (std::string(argv[i]) == "--log_folder" && i + 1 < argc) {
log_folder = std::string(argv[i + 1]);
}
else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
std::cout << argv[0] << " [--ip 192.168.1.1] [--log_folder <folder>] [--help] [-h]"
<< "\n";
return EXIT_SUCCESS;
}
}
try {
vpRobotFranka robot;
robot.setLogFolder(log_folder);
robot.connect(robot_ip);
std::cout << "WARNING: This example will move the robot! " << std::endl
<< "- Please make sure to have the user stop button at hand!" << std::endl
<< "- Please make also sure the end-effector is in contact with a flat surface such as a foam board!" << std::endl
<< "Press Enter to continue..." << std::endl;
std::cin.ignore();
/*
* Apply joint torque
*/
vpColVector ft_d(6, 0);
ft_d[2] = -2;
double t0 = vpTime::measureTimeSecond();
double delta_t = 12.0; // Time in second
std::cout << "Apply cartesian force/torque in a loop for " << delta_t/2. << " sec : " << ft_d.t() << std::endl;
robot.setRobotState(vpRobot::STATE_FORCE_TORQUE_CONTROL);
double filter_gain = 0.15;
bool activate_pi_controller = true;
do {
robot.setForceTorque(vpRobot::END_EFFECTOR_FRAME, ft_d, filter_gain, activate_pi_controller); // Use low level PI controller
if (vpTime::measureTimeSecond() - t0 > delta_t / 2.) {
ft_d[2] = -10;
static bool change_ft = true;
if (change_ft) {
std::cout << "Apply cartesian force/torque in a loop for " << delta_t/2. << " sec : " << ft_d.t() << std::endl;
}
change_ft = false;
}
vpTime::wait(10); // wait 10 ms
} while (vpTime::measureTimeSecond() - t0 < delta_t);
robot.setRobotState(vpRobot::STATE_STOP);
vpTime::wait(100);
}
catch(const vpException &e) {
std::cout << "ViSP exception: " << e.what() << std::endl;
return EXIT_FAILURE;
}
catch(const franka::NetworkException &e) {
std::cout << "Franka network exception: " << e.what() << std::endl;
std::cout << "Check if you are connected to the Franka robot"
<< " or if you specified the right IP using --ip command"
<< " line option set by default to 192.168.1.1. " << std::endl;
return EXIT_FAILURE;
}
catch(const std::exception &e) {
std::cout << "Franka exception: " << e.what() << std::endl;
return EXIT_FAILURE;
}
std::cout << "The end" << std::endl;
return EXIT_SUCCESS;
}
#else
int main()
{
std::cout << "ViSP is not build with libfranka..." << std::endl;
}
#endif
|
