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/*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2025 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:
* Example with Kinova Jaco robot.
*/
/*!
\example servoKinovaJacoJoint.cpp
Example that allows to control Kinova Jaco robot joints.
*/
#include <iostream>
#include <visp3/core/vpConfig.h>
#include <visp3/robot/vpRobotKinova.h>
int main(int argc, char *argv[])
{
#ifdef VISP_HAVE_JACOSDK
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
std::string opt_plugin_path = "./";
vpRobotKinova::CommandLayer opt_command_layer = vpRobotKinova::CMD_LAYER_UNSET;
bool opt_verbose = false;
unsigned int opt_dof = 6; // Consider a 6 DoF robot by default
for (int i = 1; i < argc; i++) {
if (std::string(argv[i]) == "--plugin" && i + 1 < argc) {
opt_plugin_path = std::string(argv[i + 1]);
;
}
if ((std::string(argv[i]) == "--command_layer" || std::string(argv[i]) == "-l") && i + 1 < argc) {
if (std::string(argv[i + 1]) == "usb") {
opt_command_layer = vpRobotKinova::CMD_LAYER_USB;
}
else if (std::string(argv[i + 1]) == "ethernet") {
opt_command_layer = vpRobotKinova::CMD_LAYER_ETHERNET;
}
else {
opt_command_layer = vpRobotKinova::CMD_LAYER_UNSET;
}
}
else if (std::string(argv[i]) == "--dof") {
opt_dof = static_cast<unsigned int>(std::atoi(argv[i + 1]));
}
else if (std::string(argv[i]) == "--verbose" || std::string(argv[i]) == "-v") {
opt_verbose = true;
}
else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
std::cout << "SYNOPSYS" << std::endl
<< " " << argv[0] << " [--plugin <path>] [--command_layer <name>] [--dof <4,6,7>] "
<< "[--verbose] [--help] [-v] [-h]\n"
<< std::endl;
std::cout << "DESCRIPTION" << std::endl
<< " --plugin <path>" << std::endl
<< " Path to Jaco SDK .so or .dll plugin location. Default: \"./\"." << std::endl
<< std::endl
<< " --command_layer <name>, -l <name>" << std::endl
<< " Command layer name, either \"usb\" or \"ethernet\"." << std::endl
<< std::endl
<< " --dof" << std::endl
<< " Degrees of freedom. Possible values are 4, 6 or 7. Default value: 6." << std::endl
<< std::endl
<< " --verbose, -v" << std::endl
<< " Enable verbose mode to print addition information." << std::endl
<< std::endl
<< " --help, -h" << std::endl
<< " Print this helper message." << std::endl
<< std::endl;
std::cout << "EXAMPLE" << std::endl
#ifdef __linux__
<< " " << argv[0] << " --plugin /opt/JACO-SDK/API"
#elif _WIN32
<< " " << argv[0] << " --plugin \"C:\\Program Files(x86)\\JACO - SDK\\API\\x64\""
#endif
<< " --command_layer usb" << std::endl
<< std::endl;
return EXIT_SUCCESS;
}
}
try {
vpRobotKinova robot;
robot.setDoF(opt_dof);
robot.setVerbose(opt_verbose);
robot.setPluginLocation(opt_plugin_path);
robot.setCommandLayer(opt_command_layer);
int n_devices = robot.connect();
if (!n_devices) {
std::cout << "There is no Kinova device connected." << std::endl;
return EXIT_SUCCESS;
}
// Move robot to home position
robot.homing();
// Control robot in joint velocity
robot.setRobotState(vpRobot::STATE_VELOCITY_CONTROL);
vpColVector qdot(opt_dof);
qdot[opt_dof - 1] = vpMath::rad(20); // send 20 deg/s on last joint
// Sent new joint velocities each 5 ms
for (unsigned int i = 0; i < 300; i++) {
// We send the velocity vector as long as we want the robot to move along that vector
robot.setVelocity(vpRobot::JOINT_STATE, qdot);
vpTime::wait(5);
}
// Control robot in joint position
robot.setRobotState(vpRobot::STATE_POSITION_CONTROL);
vpColVector q, q1, q2;
// Move robot to home position
robot.homing();
// Get current joint position
robot.getPosition(vpRobot::JOINT_STATE, q);
// Move to first joint position
q1 = q;
q1[0] += vpMath::rad(30);
robot.setPosition(vpRobot::JOINT_STATE, q1);
// Move to second joint position
q2 = q;
q2[0] += vpMath::rad(-60);
robot.setPosition(vpRobot::JOINT_STATE, q2);
// Move back to home position
robot.setPosition(vpRobot::JOINT_STATE, q);
}
catch (const vpException &e) {
std::cout << "Catch exception: " << e.getStringMessage() << std::endl;
}
std::cout << "The end" << std::endl;
return EXIT_SUCCESS;
#else
(void)(argc);
(void)(argv);
std::cout << "Install Jaco SDK, configure and build again ViSP to use this example..." << std::endl;
#endif
}
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