franka 一次通讯

// Copyright (c) 2017 Franka Emika GmbH
// Use of this source code is governed by the Apache-2.0 license, see LICENSE
#include <iostream>

#include <franka/exception.h>
#include <franka/robot.h>

/**
 * @example echo_robot_state.cpp
 * An example showing how to continuously read the robot state.
 */

int main(int argc, char** argv) {
  if (argc != 2) {
    std::cerr << "Usage: " << argv[0] << " <robot-hostname>" << std::endl;
    return -1;
  }

  try {
    franka::Robot robot(argv[1]);

    size_t count = 0;
    robot.read([&count](const franka::RobotState& robot_state) {


      // Printing to std::cout adds a delay. This is acceptable for a read loop such as this, but
      
      // should not be done in a control loop.
      for (size_t i = 0; i < robot_state.theta.size(); i++)
      {
         std::cout << robot_state.theta[i] << "\t";
      }
      
    //  std::cout << robot_state << std::endl;
    //count控制次数

      return count ;
//返回值修改
    });

    std::cout << "Done." << std::endl;
  } catch (franka::Exception const& e) {
    std::cout << e.what() << std::endl;
    return -1;
  }

  return 0;
}