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/*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2024 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:
* Test Universal Robots behavior
*/
/*!
\example testUniversalRobotsGetData.cpp
Test robot from Universal Robot getting robot state implemented in vpRobotUniversalRobots.
*/
#include <iostream>
#include <visp3/core/vpConfig.h>
#if defined(VISP_HAVE_UR_RTDE)
#include <visp3/robot/vpRobotUniversalRobots.h>
int main(int argc, char **argv)
{
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
std::string robot_ip = "192.168.0.100";
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]) == "--help" || std::string(argv[i]) == "-h") {
std::cout << argv[0] << " [--ip " << robot_ip << "] [--help] [-h]"
<< "\n";
return EXIT_SUCCESS;
}
}
try {
std::cout << "-- Start test 1/3" << std::endl;
vpRobotUniversalRobots robot;
robot.connect(robot_ip);
std::shared_ptr<ur_rtde::RTDEReceiveInterface> rtde_receive_interface = robot.getRTDEReceiveInterfaceHandler();
std::shared_ptr<ur_rtde::DashboardClient> db_client = robot.getDashboardClientHandler();
std::cout << "Robot connected : " << (rtde_receive_interface->isConnected() ? "yes" : "no") << std::endl;
std::cout << "Robot mode : " << rtde_receive_interface->getRobotMode() << std::endl;
std::cout << "Robot model : " << db_client->getRobotModel() << std::endl;
std::cout << "PolyScope version: " << db_client->polyscopeVersion() << std::endl;
robot.disconnect();
}
catch (const vpException &e) {
std::cout << "ViSP exception: " << e.what() << std::endl;
return EXIT_FAILURE;
}
catch (const std::exception &e) {
std::cout << "ur_rtde exception: " << e.what() << std::endl;
return EXIT_FAILURE;
}
try {
std::cout << "-- Start test 2/3" << std::endl;
vpRobotUniversalRobots robot;
robot.connect(robot_ip);
// Next test is only done when robot powered on
// See robot mode doc:
// https://sdurobotics.gitlab.io/ur_rtde/api/api.html#_CPPv4N7ur_rtde20RTDEReceiveInterface12getRobotModeEv
if (robot.getRobotMode() >= 4) {
vpColVector q, q_init;
for (unsigned i = 0; i < 10; i++) {
robot.getPosition(vpRobot::JOINT_STATE, q_init);
q = q_init;
std::cout << "Joint position [deg]: " << q.rad2deg().t() << std::endl;
vpTime::wait(10);
}
vpPoseVector fPe;
robot.getPosition(vpRobot::END_EFFECTOR_FRAME, fPe);
std::cout << "fMe pose vector: " << fPe.t() << std::endl;
vpHomogeneousMatrix fMe_1(fPe);
std::cout << "fMe pose matrix: \n" << fMe_1 << std::endl;
vpColVector position;
robot.getPosition(vpRobot::END_EFFECTOR_FRAME, position);
for (size_t i = 0; i < fPe.size(); i++) {
if (!vpMath::equal(fPe[i], position[i])) {
std::cout << "Wrong end-effector pose returned by getPosition(). Test failed" << std::endl;
return EXIT_FAILURE;
}
}
vpHomogeneousMatrix fMe_2 = robot.get_fMe();
std::cout << "fMe pose matrix: \n" << fMe_2 << std::endl;
for (size_t i = 0; i < fMe_2.size(); i++) {
if (!vpMath::equal(fMe_1.data[i], fMe_2.data[i])) {
std::cout << "Wrong end-effector pose returned by get_fMe(). Test failed" << std::endl;
return EXIT_FAILURE;
}
}
// Next test is only done when brakes are released
// See robot mode doc:
// https://sdurobotics.gitlab.io/ur_rtde/api/api.html#_CPPv4N7ur_rtde20RTDEReceiveInterface12getRobotModeEv
if (robot.getRobotMode() == 7) {
vpHomogeneousMatrix fMe_3 = robot.get_fMe(q_init);
std::cout << "fMe pose matrix: \n" << fMe_3 << std::endl;
for (size_t i = 0; i < fMe_3.size(); i++) {
if (!vpMath::equal(fMe_2.data[i], fMe_3.data[i])) {
std::cout << "Wrong end-effector forward kinematics . Test failed" << std::endl;
return EXIT_FAILURE;
}
}
}
vpPoseVector fPc;
robot.getPosition(vpRobot::TOOL_FRAME, fPc);
std::cout << "fMc pose vector: " << fPc.t() << std::endl;
std::cout << "fMc pose matrix: \n" << vpHomogeneousMatrix(fPc) << std::endl;
robot.getPosition(vpRobot::TOOL_FRAME, position);
for (size_t i = 0; i < fPc.size(); i++) {
if (!vpMath::equal(fPc[i], position[i])) {
std::cout << "Wrong tool pose. Test failed" << std::endl;
return EXIT_FAILURE;
}
}
}
else {
std::cout << "To proceed with this test you need to power on the robot" << std::endl;
}
}
catch (const vpException &e) {
std::cout << "ViSP exception: " << e.what() << std::endl;
return EXIT_FAILURE;
}
catch (const std::exception &e) {
std::cout << "ur_rtde exception: " << e.what() << std::endl;
return EXIT_FAILURE;
}
try {
std::cout << "-- Start test 3/3" << std::endl;
vpRobotUniversalRobots robot(robot_ip);
robot.disconnect();
robot.connect(robot_ip);
vpColVector eFe;
for (unsigned i = 0; i < 10; i++) {
robot.getForceTorque(vpRobot::END_EFFECTOR_FRAME, eFe);
std::cout << "End-effector force/torque: " << eFe.t() << std::endl;
vpTime::wait(10);
}
vpColVector cFc;
for (unsigned i = 0; i < 10; i++) {
robot.getForceTorque(vpRobot::TOOL_FRAME, cFc);
std::cout << "Camera or tool frame force/torque: " << cFc.t() << std::endl;
vpTime::wait(10);
}
}
catch (const vpException &e) {
std::cout << "ViSP exception: " << e.what() << std::endl;
return EXIT_FAILURE;
}
catch (const std::exception &e) {
std::cout << "ur_rtde 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 libur_rtde 3rd party used to control a robot from Universal Robots..."
<< std::endl;
}
#endif
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