Visual Servoing Platform version 3.5.0
frankaGripper.cpp
1/****************************************************************************
2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 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 http://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 * Franka robot tool.
33 *
34 *****************************************************************************/
35
41#include <iostream>
42
43#include <visp3/robot/vpRobotFranka.h>
44
45#if defined(VISP_HAVE_FRANKA)
46
47typedef enum {
48 Gripper_Home,
49 Gripper_Open,
50 Gripper_Close,
51 Gripper_Grasp,
52 Gripper_Release,
53 Gripper_Test,
54 Gripper_None
55} GripperState_t;
56
57int main(int argc, char **argv)
58{
59 std::string opt_robot_ip = "192.168.1.1";
60 double opt_grasping_width = 0.;
61 GripperState_t opt_gripper_state = Gripper_None;
62
63 for (int i = 1; i < argc; i++) {
64 if (std::string(argv[i]) == "--ip" && i + 1 < argc) {
65 opt_robot_ip = std::string(argv[i + 1]);
66 }
67 else if (std::string(argv[i]) == "--home") {
68 opt_gripper_state = Gripper_Home;
69 }
70 else if (std::string(argv[i]) == "--open") {
71 opt_gripper_state = Gripper_Open;
72 } else if (std::string(argv[i]) == "--close") {
73 opt_gripper_state = Gripper_Close;
74 } else if (std::string(argv[i]) == "--grasp" && i + 1 < argc) {
75 opt_gripper_state = Gripper_Grasp;
76 opt_grasping_width = std::atof(argv[i + 1]);
77 } else if (std::string(argv[i]) == "--test" && i + 1 < argc) {
78 opt_gripper_state = Gripper_Test;
79 opt_grasping_width = std::atof(argv[i + 1]);
80 }
81 else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
82 std::cout << "Control Panda gripper." << std::endl;
83 std::cout << argv[0] << " [--ip <default " << opt_robot_ip << ">] [--home] [--open] [--close] [--grasp <object width in meter>] [--release] [--test <object width in meter>] [--help] [-h]\n" << std::endl;
84 std::cout << "Example to grasp a 4cm width object by first opening the gripper, then grasping the object :\n"
85 << argv[0] << " --ip 192.168.100.1 --open\n"
86 << argv[0] << " --ip 192.168.100.1 --grasp 0.04\n" << std::endl;
87
88 return EXIT_SUCCESS;
89 }
90 }
91
92 if (opt_gripper_state == Gripper_None) {
93 std::cout << "Specify which action you want to achieve. Run \"" << argv[0] << " --help\" to see how to use this binary." << std::endl;
94 return EXIT_SUCCESS;
95 } else if ((opt_gripper_state == Gripper_Grasp || opt_gripper_state == Gripper_Test) && opt_grasping_width <= 0) {
96 std::cout << "Object with in meter should be > 0. Run \"" << argv[0] << " --help\" to see how to use this binary." << std::endl;
97 return EXIT_SUCCESS;
98 }
99
100 vpRobotFranka robot;
101
102 try {
103 robot.connect(opt_robot_ip);
104
105 if (opt_gripper_state == Gripper_Home) {
106 std::cout << "Gripper homing..." << std::endl;
107 robot.gripperHoming();
108 }
109 else if (opt_gripper_state == Gripper_Close) {
110 std::cout << "Gripper closing..." << std::endl;
111 robot.gripperClose();
112 }
113 else if (opt_gripper_state == Gripper_Open) {
114 std::cout << "Gripper opening..." << std::endl;
115 robot.gripperOpen();
116 }
117 else if (opt_gripper_state == Gripper_Grasp) {
118 std::cout << "Gripper grasp " << opt_grasping_width << "m object width..." << std::endl;
119 robot.gripperGrasp(opt_grasping_width);
120 }
121 else if (opt_gripper_state == Gripper_Release) {
122 std::cout << "Gripper release object..." << std::endl;
123 robot.gripperRelease();
124 }
125 else if (opt_gripper_state == Gripper_Test) {
126 std::cout << "Test gripper performing the following actions:" << std::endl;
127 std::cout << "- Gripper homing..." << std::endl;
128 robot.gripperHoming();
129 vpTime::sleepMs(1000);
130 std::cout << "- Gripper closing..." << std::endl;
131 robot.gripperClose();
132 vpTime::sleepMs(1000);
133 std::cout << "- Gripper open 5cm..." << std::endl;
134 robot.gripperMove(0.05);
135 vpTime::sleepMs(3000);
136 std::cout << "- Gripper opening..." << std::endl;
137 robot.gripperOpen();
138 vpTime::sleepMs(3000);
139 std::cout << "- Gripper grasp " << opt_grasping_width << "m object width..." << std::endl;
140 robot.gripperGrasp(opt_grasping_width);
141 vpTime::sleepMs(3000);
142 std::cout << "- Gripper release object..." << std::endl;
143 robot.gripperRelease();
144 }
145 std::cout << "The end!" << std::endl;
146 }
147 catch(const vpException &e) {
148 std::cout << "ViSP exception: " << e.what() << std::endl;
149 return EXIT_FAILURE;
150 }
151 catch(const franka::NetworkException &e) {
152 std::cout << "Franka network exception: " << e.what() << std::endl;
153 std::cout << "Check if you are connected to the Franka robot"
154 << " or if you specified the right IP using --ip command line option set by default to 192.168.1.1. " << std::endl;
155 return EXIT_FAILURE;
156 }
157 catch(const std::exception &e) {
158 std::cout << "Franka exception: " << e.what() << std::endl;
159 return EXIT_FAILURE;
160 }
161
162 return 0;
163}
164#else
165int main()
166{
167#if !defined(VISP_HAVE_FRANKA)
168 std::cout << "Install libfranka 3rd party, configure and build again ViSP to use this example..." << std::endl;
169#endif
170 return 0;
171}
172#endif
173
error that can be emited by ViSP classes.
Definition: vpException.h:72
const char * what() const
VISP_EXPORT void sleepMs(double t)