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Trajectory point velocities and example (#241)
This PR adds the possibility to pass acceleration&velocity information instead of time constraints to direct robot motions.
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| // -- BEGIN LICENSE BLOCK ---------------------------------------------- | ||
| // Copyright 2024 Universal Robots A/S | ||
| // | ||
| // Redistribution and use in source and binary forms, with or without | ||
| // modification, are permitted provided that the following conditions are met: | ||
| // | ||
| // * Redistributions of source code must retain the above copyright | ||
| // notice, this list of conditions and the following disclaimer. | ||
| // | ||
| // * Redistributions in binary form must reproduce the above copyright | ||
| // notice, this list of conditions and the following disclaimer in the | ||
| // documentation and/or other materials provided with the distribution. | ||
| // | ||
| // * Neither the name of the {copyright_holder} nor the names of its | ||
| // contributors may be used to endorse or promote products derived from | ||
| // this software without specific prior written permission. | ||
| // | ||
| // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | ||
| // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE | ||
| // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE | ||
| // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE | ||
| // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR | ||
| // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF | ||
| // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS | ||
| // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN | ||
| // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) | ||
| // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| // POSSIBILITY OF SUCH DAMAGE. | ||
| // -- END LICENSE BLOCK ------------------------------------------------ | ||
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| #include <chrono> | ||
| #include <string> | ||
| #include <thread> | ||
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| #include "ur_client_library/types.h" | ||
| #include "ur_client_library/ur/ur_driver.h" | ||
| #include "ur_client_library/log.h" | ||
| #include "ur_client_library/control/trajectory_point_interface.h" | ||
| #include "ur_client_library/ur/dashboard_client.h" | ||
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| const std::string DEFAULT_ROBOT_IP = "192.168.56.101"; | ||
| const std::string SCRIPT_FILE = "resources/external_control.urscript"; | ||
| const std::string OUTPUT_RECIPE = "examples/resources/rtde_output_recipe.txt"; | ||
| const std::string INPUT_RECIPE = "examples/resources/rtde_input_recipe.txt"; | ||
| const std::string CALIBRATION_CHECKSUM = "calib_12788084448423163542"; | ||
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| std::unique_ptr<urcl::DashboardClient> g_my_dashboard; | ||
| std::unique_ptr<urcl::UrDriver> g_my_driver; | ||
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| std::atomic<bool> g_trajectory_done = false; | ||
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| // We need a callback function to register. See UrDriver's parameters for details. | ||
| void handleRobotProgramState(bool program_running) | ||
| { | ||
| // Print the text in green so we see it better | ||
| std::cout << "\033[1;32mProgram running: " << std::boolalpha << program_running << "\033[0m\n" << std::endl; | ||
| } | ||
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| void trajDoneCallback(const urcl::control::TrajectoryResult& result) | ||
| { | ||
| URCL_LOG_INFO("Trajectory done with result %d", result); | ||
| ; | ||
| g_trajectory_done = true; | ||
| } | ||
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| int main(int argc, char* argv[]) | ||
| { | ||
| urcl::setLogLevel(urcl::LogLevel::INFO); | ||
| // Parse the ip arguments if given | ||
| std::string robot_ip = DEFAULT_ROBOT_IP; | ||
| if (argc > 1) | ||
| { | ||
| robot_ip = std::string(argv[1]); | ||
| } | ||
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| // --------------- INITIALIZATION BEGIN ------------------- | ||
| // Making the robot ready for the program by: | ||
| // Connect the robot Dashboard | ||
| g_my_dashboard.reset(new urcl::DashboardClient(robot_ip)); | ||
| if (!g_my_dashboard->connect()) | ||
| { | ||
| URCL_LOG_ERROR("Could not connect to dashboard"); | ||
| return 1; | ||
| } | ||
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| // // Stop program, if there is one running | ||
| if (!g_my_dashboard->commandStop()) | ||
| { | ||
| URCL_LOG_ERROR("Could not send stop program command"); | ||
| return 1; | ||
| } | ||
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| // Power it off | ||
| if (!g_my_dashboard->commandPowerOff()) | ||
| { | ||
| URCL_LOG_ERROR("Could not send Power off command"); | ||
| return 1; | ||
| } | ||
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| // Power it on | ||
| if (!g_my_dashboard->commandPowerOn()) | ||
| { | ||
| URCL_LOG_ERROR("Could not send Power on command"); | ||
| return 1; | ||
| } | ||
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| // Release the brakes | ||
| if (!g_my_dashboard->commandBrakeRelease()) | ||
| { | ||
| URCL_LOG_ERROR("Could not send BrakeRelease command"); | ||
| return 1; | ||
| } | ||
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| std::unique_ptr<urcl::ToolCommSetup> tool_comm_setup; | ||
| const bool headless = true; | ||
| g_my_driver.reset(new urcl::UrDriver(robot_ip, SCRIPT_FILE, OUTPUT_RECIPE, INPUT_RECIPE, &handleRobotProgramState, | ||
| headless, std::move(tool_comm_setup), CALIBRATION_CHECKSUM)); | ||
| // --------------- INITIALIZATION END ------------------- | ||
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| g_my_driver->registerTrajectoryDoneCallback(&trajDoneCallback); | ||
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| URCL_LOG_INFO("Running MoveJ motion"); | ||
| // --------------- MOVEJ TRAJECTORY ------------------- | ||
| { | ||
| g_trajectory_done = false; | ||
| // Trajectory definition | ||
| std::vector<urcl::vector6d_t> points{ { -1.57, -1.57, 0, 0, 0, 0 }, { -1.57, -1.6, 1.6, -0.7, 0.7, 0.2 } }; | ||
| std::vector<double> motion_durations{ 5.0, 2.0 }; | ||
| std::vector<double> blend_radii{ 0.1, 0.1 }; | ||
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| // Trajectory execution | ||
| g_my_driver->writeTrajectoryControlMessage(urcl::control::TrajectoryControlMessage::TRAJECTORY_START, | ||
| points.size() * 2); | ||
| for (size_t i = 0; i < points.size(); i++) | ||
| { | ||
| g_my_driver->writeTrajectoryPoint(points[i], false, motion_durations[i], blend_radii[i]); | ||
| } | ||
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| // Same motion, but parametrized with acceleration and velocity | ||
| motion_durations = { 0.0, 0.0 }; | ||
| for (size_t i = 0; i < points.size(); i++) | ||
| { | ||
| g_my_driver->writeTrajectoryPoint(points[i], 2.0, 2.0, false, motion_durations[i], blend_radii[i]); | ||
| } | ||
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| while (!g_trajectory_done) | ||
| { | ||
| std::this_thread::sleep_for(std::chrono::milliseconds(100)); | ||
| g_my_driver->writeTrajectoryControlMessage(urcl::control::TrajectoryControlMessage::TRAJECTORY_NOOP); | ||
| } | ||
| } | ||
| // --------------- END MOVEJ TRAJECTORY ------------------- | ||
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| URCL_LOG_INFO("Running MoveL motion"); | ||
| // --------------- MOVEL TRAJECTORY ------------------- | ||
| { | ||
| g_trajectory_done = false; | ||
| // Trajectory definition | ||
| std::vector<urcl::vector6d_t> points{ { -0.203, 0.263, 0.559, 0.68, -1.083, -2.076 }, | ||
| { -0.203, 0.463, 0.559, 0.68, -1.083, -2.076 } }; | ||
| std::vector<double> motion_durations{ 5.0, 5.0 }; | ||
| std::vector<double> blend_radii{ 0.0, 0.0 }; | ||
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| // Trajectory execution | ||
| g_my_driver->writeTrajectoryControlMessage(urcl::control::TrajectoryControlMessage::TRAJECTORY_START, | ||
| points.size()); | ||
| for (size_t i = 0; i < points.size(); i++) | ||
| { | ||
| // setting the cartesian parameter makes it interpret the 6d vector as a pose and use movel | ||
| g_my_driver->writeTrajectoryPoint(points[i], true, motion_durations[i], blend_radii[i]); | ||
| } | ||
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| while (!g_trajectory_done) | ||
| { | ||
| std::this_thread::sleep_for(std::chrono::milliseconds(100)); | ||
| g_my_driver->writeTrajectoryControlMessage(urcl::control::TrajectoryControlMessage::TRAJECTORY_NOOP); | ||
| } | ||
| } | ||
| // --------------- END MOVEL TRAJECTORY ------------------- | ||
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| URCL_LOG_INFO("Running a spline motion"); | ||
| // --------------- SPLINE TRAJECTORY ------------------- | ||
| { | ||
| g_trajectory_done = false; | ||
| // Trajectory definition | ||
| std::vector<urcl::vector6d_t> positions{ { -1.57, -1.57, 0, 0, 0, 0 }, | ||
| { -1.57, -1.57, -1.57, 0, 0, 0 }, | ||
| { -1.57, -1.57, 0, 0, 0, 0 }, | ||
| { -1.57, -1.6, 1.6, -0.7, 0.7, 0.2 } }; | ||
| std::vector<urcl::vector6d_t> velocities{ | ||
| { 0, 0, 0.0, 0, 0, 0 }, { 0, 0, 0.0, 0, 0, 0 }, { 0, 0, 1.5, 0, 0, 0 }, { 0, 0, 0, 0, 0, 0 } | ||
| }; | ||
| std::vector<double> motion_durations{ 3.0, 3.0, 3.0, 3.0 }; | ||
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| // Trajectory execution | ||
| g_my_driver->writeTrajectoryControlMessage(urcl::control::TrajectoryControlMessage::TRAJECTORY_START, | ||
| positions.size()); | ||
| for (size_t i = 0; i < positions.size(); i++) | ||
| { | ||
| g_my_driver->writeTrajectorySplinePoint(positions[i], velocities[i], motion_durations[i]); | ||
| } | ||
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| while (!g_trajectory_done) | ||
| { | ||
| std::this_thread::sleep_for(std::chrono::milliseconds(100)); | ||
| g_my_driver->writeTrajectoryControlMessage(urcl::control::TrajectoryControlMessage::TRAJECTORY_NOOP); | ||
| } | ||
| } | ||
| // --------------- END MOVEJ TRAJECTORY ------------------- | ||
|
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| g_my_driver->stopControl(); | ||
| return 0; | ||
| } |
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