Visual Servoing Platform version 3.6.0
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vpRobotFranka.h
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 * Interface for the Franka robot.
33 *
34*****************************************************************************/
35
36#ifndef _vpRobotFranka_h_
37#define _vpRobotFranka_h_
38
39#include <visp3/core/vpConfig.h>
40
41#ifdef VISP_HAVE_FRANKA
42
43#include <atomic>
44#include <iostream>
45#include <thread>
46#include <vector>
47
48#include <stdio.h>
49
50#include <franka/exception.h>
51#include <franka/gripper.h>
52#include <franka/model.h>
53#include <franka/robot.h>
54
55#include <visp3/core/vpColVector.h>
56#include <visp3/core/vpException.h>
57#include <visp3/robot/vpRobot.h>
58
222class VISP_EXPORT vpRobotFranka : public vpRobot
223{
224private:
228 vpRobotFranka(const vpRobotFranka &robot);
233
234 void init();
235
236 franka::Robot *m_handler;
237 franka::Gripper *m_gripper;
238 franka::Model *m_model;
239 double m_positioningVelocity;
240
241 // Velocity controller
242 std::thread m_velControlThread;
243 std::atomic_bool m_velControlThreadIsRunning;
244 std::atomic_bool m_velControlThreadStopAsked;
245 std::array<double, 7> m_dq_des; // Desired joint velocity
246 vpColVector m_v_cart_des; // Desired cartesian velocity either in reference, end-effector, camera, or tool frame
247
248 // Force/torque controller
249 std::thread m_ftControlThread;
250 std::atomic_bool m_ftControlThreadIsRunning;
251 std::atomic_bool m_ftControlThreadStopAsked;
252 std::array<double, 7> m_tau_J_des; // Desired joint torques
253 vpColVector m_ft_cart_des; // Desired cartesian force/torque either in reference, end-effector, camera, or tool frame
254
255 std::array<double, 7> m_q_min; // Joint min position
256 std::array<double, 7> m_q_max; // Joint max position
257 std::array<double, 7> m_dq_max; // Joint max velocity
258 std::array<double, 7> m_ddq_max; // Joint max acceleration
259
260 franka::RobotState m_robot_state; // Robot state protected by mutex
261 std::mutex m_mutex; // Mutex to protect m_robot_state
262
264 std::string m_log_folder;
265 std::string m_franka_address;
266
267public:
269
270 vpRobotFranka(const std::string &franka_address,
271 franka::RealtimeConfig realtime_config = franka::RealtimeConfig::kEnforce);
272
273 virtual ~vpRobotFranka();
274
275 void connect(const std::string &franka_address,
276 franka::RealtimeConfig realtime_config = franka::RealtimeConfig::kEnforce);
277
278 vpHomogeneousMatrix get_fMe(const vpColVector &q);
279 vpHomogeneousMatrix get_fMc(const vpColVector &q);
280 vpHomogeneousMatrix get_eMc() const;
281
282 void get_eJe(vpMatrix &eJe);
283 void get_eJe(const vpColVector &q, vpMatrix &eJe);
284 void get_fJe(vpMatrix &fJe);
285 void get_fJe(const vpColVector &q, vpMatrix &fJe);
286
287 void getCoriolis(vpColVector &coriolis);
288 void getForceTorque(const vpRobot::vpControlFrameType frame, vpColVector &force);
289
290 void getGravity(vpColVector &gravity);
291
292 franka::RobotState getRobotInternalState();
293
299 franka::Gripper *getGripperHandler()
300 {
301 if (!m_gripper) {
302 throw(vpException(vpException::fatalError, "Cannot get Franka gripper handler: gripper is not connected"));
303 }
304
305 return m_gripper;
306 }
307
313 franka::Robot *getHandler()
314 {
315 if (!m_handler) {
316 throw(vpException(vpException::fatalError, "Cannot get Franka robot handler: robot is not connected"));
317 }
318
319 return m_handler;
320 }
321
322 vpColVector getJointMin() const;
323 vpColVector getJointMax() const;
324
325 void getMass(vpMatrix &mass);
326
327 void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position);
329
330 void getVelocity(const vpRobot::vpControlFrameType frame, vpColVector &d_position);
331
332 int gripperClose();
333 int gripperGrasp(double grasping_width, double force = 60.);
334 void gripperHoming();
335 int gripperMove(double width);
336 int gripperOpen();
337 void gripperRelease();
338
339 void move(const std::string &filename, double velocity_percentage = 10.);
340
341 bool readPosFile(const std::string &filename, vpColVector &q);
342 bool savePosFile(const std::string &filename, const vpColVector &q);
343
344 void set_eMc(const vpHomogeneousMatrix &eMc);
345 void setForceTorque(const vpRobot::vpControlFrameType frame, const vpColVector &ft, const double &filter_gain = 0.1,
346 const bool &activate_pi_controller = false);
347 void setLogFolder(const std::string &folder);
348 void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &position);
349 void setPositioningVelocity(double velocity);
350
352 void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel);
353
354 void stopMotion();
355};
356
357#endif
358#endif // #ifndef __vpRobotFranka_h_
Implementation of column vector and the associated operations.
error that can be emitted by ViSP classes.
Definition vpException.h:59
@ fatalError
Fatal error.
Definition vpException.h:84
Implementation of an homogeneous matrix and operations on such kind of matrices.
Implementation of a matrix and operations on matrices.
Definition vpMatrix.h:152
Implementation of a pose vector and operations on poses.
franka::Robot * getHandler()
franka::Gripper * getGripperHandler()
Class that defines a generic virtual robot.
Definition vpRobot.h:57
vpControlFrameType
Definition vpRobot.h:73
virtual void get_eJe(vpMatrix &_eJe)=0
Get the robot Jacobian expressed in the end-effector frame.
virtual void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel)=0
virtual void getPosition(const vpRobot::vpControlFrameType frame, vpColVector &position)=0
Get the robot position (frame has to be specified).
vpRobotStateType
Definition vpRobot.h:62
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)
Definition vpRobot.cpp:198
virtual void init()=0
virtual void get_fJe(vpMatrix &_fJe)=0
virtual void getDisplacement(const vpRobot::vpControlFrameType frame, vpColVector &q)=0
virtual void setPosition(const vpRobot::vpControlFrameType frame, const vpColVector &q)=0
Set a displacement (frame has to be specified) in position control.