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
|
/****************************************************************************
*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2023 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 https://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:
* Universal Robots robot tool.
*
*****************************************************************************/
/*!
\example UniversalRobotsSavePosition.cpp
Save position of robot from UniversalRobots in file position.pos.
*/
#include <iostream>
#include <visp3/core/vpConfig.h>
#if defined(VISP_HAVE_UR_RTDE)
#include <visp3/robot/vpRobotUniversalRobots.h>
int main(int argc, char **argv)
{
std::string opt_robot_ip = "192.168.0.100";
std::string opt_position_filename = "position.pos";
for (int i = 1; i < argc; i++) {
if (std::string(argv[i]) == "--ip" && i + 1 < argc) {
opt_robot_ip = std::string(argv[i + 1]);
} else if (std::string(argv[i]) == "--save" && i + 1 < argc) {
opt_position_filename = std::string(argv[i + 1]);
} else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
std::cout << "Save UR robot position in a file." << std::endl;
std::cout << "Usage:\n" << std::endl;
std::cout << argv[0] << " [--ip <default " << opt_robot_ip << ">] [--save <position file name>] [--help] [-h]\n"
<< std::endl;
std::cout << "Example:\n" << argv[0] << " --ip 192.168.0.100 --save position.pos\n" << std::endl;
return EXIT_SUCCESS;
}
}
vpRobotUniversalRobots robot;
try {
robot.connect(opt_robot_ip);
vpColVector q;
robot.getPosition(vpRobot::JOINT_STATE, q);
robot.savePosFile(opt_position_filename, q);
std::cout << "Robot position saved in \"" << opt_position_filename << "\"" << std::endl;
} catch (const vpException &e) {
std::cout << "ViSP exception: " << e.what() << std::endl;
std::cout << "Stop the robot " << std::endl;
robot.setRobotState(vpRobot::STATE_STOP);
return EXIT_FAILURE;
} catch (const std::exception &e) {
std::cout << "ur_rtde exception: " << e.what() << std::endl;
return EXIT_FAILURE;
}
return EXIT_SUCCESS;
}
#else
int main()
{
#if !defined(VISP_HAVE_UR_RTDE)
std::cout << "ViSP is not build with libur_rtde 3rd party used to control a robot from Universal Robots..."
<< std::endl;
#endif
#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
std::cout << "Build ViSP with c++11 or higher compiler flag (cmake -DUSE_CXX_STANDARD=11)." << std::endl;
#endif
return EXIT_SUCCESS;
}
#endif
|
