43#include <visp3/core/vpConfig.h>
45#if defined(VISP_HAVE_UR_RTDE)
47#include <visp3/core/vpIoTools.h>
48#include <visp3/robot/vpRobotUniversalRobots.h>
50int main(
int argc,
char **argv)
52 std::string opt_robot_ip =
"192.168.0.100";
53 std::string opt_position_filename =
"";
55 for (
int i = 1; i < argc; i++) {
56 if (std::string(argv[i]) ==
"--ip" && i + 1 < argc) {
57 opt_robot_ip = std::string(argv[i + 1]);
58 }
else if (std::string(argv[i]) ==
"--read" && i + 1 < argc) {
59 opt_position_filename = std::string(argv[i + 1]);
60 }
else if (std::string(argv[i]) ==
"--help" || std::string(argv[i]) ==
"-h") {
61 std::cout <<
"Move UR robot to a position specified from a file." << std::endl;
62 std::cout << argv[0] <<
" [--ip <default " << opt_robot_ip <<
">] [--read <position file name>] [--help] [-h]\n"
64 std::cout <<
"Example:\n" << argv[0] <<
" --ip 192.168.0.100 --read position.pos\n" << std::endl;
70 if (opt_position_filename.empty()) {
71 std::cout <<
"\nError: no position file given as input with --read option. " << std::endl;
72 std::cout <<
"Call \"" << argv[0] <<
" --help\" to get usage" << std::endl;
76 std::cout <<
"\nError: position filename \"" << opt_position_filename <<
"\" given as input doesn't exist. "
78 std::cout <<
"Call \"" << argv[0] <<
" --help\" to get usage" << std::endl;
85 robot.connect(opt_robot_ip);
87 robot.move(opt_position_filename);
89 std::cout <<
"ViSP exception: " << e.
what() << std::endl;
90 std::cout <<
"Stop the robot " << std::endl;
93 }
catch (
const std::exception &e) {
94 std::cout <<
"ur_rtde exception: " << e.what() << std::endl;
103#if !defined(VISP_HAVE_UR_RTDE)
104 std::cout <<
"ViSP is not build with libur_rtde 3rd party used to control a robot from Universal Robots..."
107#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
108 std::cout <<
"Build ViSP with c++11 or higher compiler flag (cmake -DUSE_CXX_STANDARD=11)." << std::endl;
error that can be emitted by ViSP classes.
const char * what() const
@ STATE_STOP
Stops robot motion especially in velocity and acceleration control.
virtual vpRobotStateType setRobotState(const vpRobot::vpRobotStateType newState)