Visual Servoing Platform version 3.6.0
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testUniversalRobotsCartVelocity.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 Universal Robots robot behavior
33 *
34*****************************************************************************/
35
42#include <iostream>
43
44#include <visp3/core/vpConfig.h>
45
46#if defined(VISP_HAVE_UR_RTDE) && (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
47
48#include <visp3/robot/vpRobotUniversalRobots.h>
49
50int main(int argc, char **argv)
51{
52 std::string robot_ip = "192.168.0.100";
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 " << robot_ip << "] [--help] [-h]"
59 << "\n";
60 return EXIT_SUCCESS;
61 }
62 }
63
64 try {
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(6, 0);
77 q[0] = 0;
78 q[1] = -M_PI_2;
79 q[2] = M_PI_2;
80 q[3] = -M_PI_2 / 2.;
81 q[4] = -M_PI_2;
82 q[5] = 0;
83 std::cout << "Move to joint position: " << q.t() << std::endl;
84 robot.setPositioningVelocity(10.);
85 robot.setPosition(vpRobot::JOINT_STATE, q);
86
87 /*
88 * Move in cartesian velocity
89 */
90 double t0 = vpTime::measureTimeSecond();
91 double delta_t = 4.0; // Time in second
92 vpColVector qdot;
93 vpColVector ve(6);
94 // ve[0] = -0.01; // vx goes toward the user
95 // ve[1] = 0.01; // vy goes left
96 ve[2] = 0.02; // vz goes down
97 // ve[3] = vpMath::rad(5); // wx
98 // ve[4] = vpMath::rad(5); // wy
99 // ve[5] = vpMath::rad(5); // wz
100
101 std::cout << "Apply cartesian vel in a loop for " << delta_t << " sec : " << ve.t() << std::endl;
103 do {
105 vpTime::wait(10);
106 } while (vpTime::measureTimeSecond() - t0 < delta_t);
107
108 // ve[0] = -0.01; // vx goes toward the user
109 // ve[1] = -0.01; // vy goes left
110 ve[2] = -0.02; // vz goes down
111 // ve[3] = vpMath::rad(5); // wx
112 // ve[4] = vpMath::rad(5); // wy
113 // ve[5] = vpMath::rad(5); // wz
114 std::cout << "Apply cartesian vel in a loop for " << delta_t << " sec : " << ve.t() << std::endl;
116 do {
118 vpTime::wait(10);
119 } while (vpTime::measureTimeSecond() - t0 < delta_t);
120
121 std::cout << "Ask to stop the robot " << std::endl;
123 } catch (const vpException &e) {
124 std::cout << "ViSP exception: " << e.what() << std::endl;
125 return EXIT_FAILURE;
126 } catch (const std::exception &e) {
127 std::cout << "ur_rtde exception: " << e.what() << std::endl;
128 return EXIT_FAILURE;
129 }
130
131 std::cout << "The end" << std::endl;
132 return EXIT_SUCCESS;
133}
134
135#else
136int main()
137{
138#if !defined(VISP_HAVE_UR_RTDE)
139 std::cout << "ViSP is not build with libur_rtde 3rd party used to control a robot from Universal Robots..."
140 << std::endl;
141#endif
142#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
143 std::cout << "Build ViSP with c++11 or higher compiler flag (cmake -DUSE_CXX_STANDARD=11)." << std::endl;
144#endif
145}
146
147#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
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)
@ JOINT_STATE
Definition vpRobot.h:78
@ END_EFFECTOR_FRAME
Definition vpRobot.h:79
@ 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
VISP_EXPORT int wait(double t0, double t)
VISP_EXPORT double measureTimeSecond()