一、简介
本示例是轨迹控制示例，同时用了三个端口——Dashboard + EliteDriver + RTSI。主要通过dashboard执行上电释放抱闸，Rtsi读取关机角度，EliteDriver 调用writeTrajectory来进行轨迹控制
二、操作流程
1、跟随快速使用手册安装elite c++ sdk，确保sdk安装正确。
2、整体编译C++ sdk仓。
3、进入build/example文件夹下，执行编译好的可执行文件trajectory_example，需要指定机器人的ip，并设置use-headless-mode 为 true
三、常见问题
1、只能通过控制台执行这个文件吗？能否通过ide直接执行？
A:这里使用了argparse解析参数，所以只需要将这里参数解析部分删除，直接指定ip等参数即可
四、代码和附件
这段代码首先会创建
EliteDriverConfig ，用来配置机器人 IP、本地 IP、headless 模式等，然后用配置好的config来创建EliteDriver 对象。然后调用DashboardClient 的connect(robot_ip) 函数连接Dashboard，调用dashboard的powerOn() / brakeRelease() 上电释放抱闸。接着调用EliteDriver对象的sendExternalControlScript() 发送外部控制脚本，使机器人处于持续运行状态。接下来创建RtsiIOInterface(output_recipe, input_recipe, 250) 创建RTSI对象，并调用connect(robot_ip) 连 RTSI，250Hz。通过调用RTSI的getActualJointPositions() 读当前关节角，修改 J4 为 -1.57 rad → 调用 driver_->writeTrajectoryControlAction(START, ...) 开启轨迹控制，driver_->writeTrajectoryPoint(joints, time, blend, is_cartesian) 逐点写入轨迹，循环发 writeTrajectoryControlAction(NOOP, ...) 保活防超时，driver_->setTrajectoryResultCallback(...) 注册完成回调，promise/future 异步等待运动结束。这是第一段关节角的轨迹控制，接下来是笛卡尔坐标控制。首先getActualTCPPose() 读当前 TCP 位姿，拼出三段连续直线轨迹，再次 writeTrajectoryPoint + writeTrajectoryControlAction(NOOP) → 执行笛卡尔轨迹。// SPDX-License-Identifier: MIT
// Copyright (c) 2025, Elite Robots.
#include <Elite/DashboardClient.hpp>
#include <Elite/DataType.hpp>
#include <Elite/EliteDriver.hpp>
#include <Elite/Log.hpp>
#include <Elite/RtsiIOInterface.hpp>
#include <boost/program_options.hpp>
#include <future>
#include <iostream>
#include <memory>
#include <thread>
using namespace ELITE;
namespace po = boost::program_options;
class TrajectoryControl {
private:
std::unique_ptr<EliteDriver> driver_;
std::unique_ptr<DashboardClient> dashboard_;
EliteDriverConfig config_;
public:
TrajectoryControl(const EliteDriverConfig& config) {
config_ = config;
driver_ = std::make_unique<EliteDriver>(config);
dashboard_ = std::make_unique<DashboardClient>();
ELITE_LOG_INFO("Connecting to the dashboard");
if (!dashboard_->connect(config.robot_ip)) {
ELITE_LOG_FATAL("Failed to connect to the dashboard.");
throw std::runtime_error("Failed to connect to the dashboard.");
}
ELITE_LOG_INFO("Successfully connected to the dashboard");
}
~TrajectoryControl() {
if (dashboard_) {
dashboard_->disconnect();
}
driver_->stopControl();
}
bool startControl() {
ELITE_LOG_INFO("Start powering on...");
if (!dashboard_->powerOn()) {
ELITE_LOG_FATAL("Power-on failed");
return false;
}
ELITE_LOG_INFO("Power-on succeeded");
ELITE_LOG_INFO("Start releasing brake...");
if (!dashboard_->brakeRelease()) {
ELITE_LOG_FATAL("Brake release failed");
return false;
}
ELITE_LOG_INFO("Brake released");
if (config_.headless_mode) {
if (!driver_->isRobotConnected()) {
if (!driver_->sendExternalControlScript()) {
ELITE_LOG_FATAL("Fail to send external control script");
return false;
}
}
} else {
if (!dashboard_->playProgram()) {
ELITE_LOG_FATAL("Fail to play program");
return false;
}
}
ELITE_LOG_INFO("Wait external control script run...");
while (!driver_->isRobotConnected()) {
std::this_thread::sleep_for(std::chrono::milliseconds(10));
}
ELITE_LOG_INFO("External control script is running");
return true;
}
bool moveTrajectory(const std::vector<vector6d_t>& target_points, float point_time, float blend_radius, bool is_cartesian) {
std::promise<TrajectoryMotionResult> move_done_promise;
driver_->setTrajectoryResultCallback([&](TrajectoryMotionResult result) { move_done_promise.set_value(result); });
ELITE_LOG_INFO("Trajectory motion start");
if(!driver_->writeTrajectoryControlAction(ELITE::TrajectoryControlAction::START, target_points.size(), 200)) {
ELITE_LOG_ERROR("Failed to start trajectory motion");
return false;
}
for (const auto& joints : target_points) {
if (!driver_->writeTrajectoryPoint(joints, point_time, blend_radius, is_cartesian)) {
ELITE_LOG_ERROR("Failed to write trajectory point");
return false;
}
// Send NOOP command to avoid timeout.
if(!driver_->writeTrajectoryControlAction(ELITE::TrajectoryControlAction::NOOP, 0, 200)) {
ELITE_LOG_ERROR("Failed to send NOOP command");
return false;
}
}
std::future<TrajectoryMotionResult> move_done_future = move_done_promise.get_future();
while (move_done_future.wait_for(std::chrono::milliseconds(50)) != std::future_status::ready) {
// Wait for the trajectory motion to complete, and send NOOP command to avoid timeout.
if(!driver_->writeTrajectoryControlAction(ELITE::TrajectoryControlAction::NOOP, 0, 200)) {
ELITE_LOG_ERROR("Failed to send NOOP command");
return false;
}
}
auto result = move_done_future.get();
ELITE_LOG_INFO("Trajectory motion completed with result: %d", result);
if(!driver_->writeIdle(0)) {
ELITE_LOG_ERROR("Failed to write idle command");
return false;
}
return result == TrajectoryMotionResult::SUCCESS;
}
bool moveTo(const vector6d_t& point, float time, bool is_cartesian) {
return moveTrajectory({point}, time, 0, is_cartesian);
}
};
int main(int argc, const char** argv) {
EliteDriverConfig config;
// Parser param
po::options_description desc(
"Usage:\n"
"\t./trajectory_example <--robot-ip=ip> [--local-ip=\"\"] [--use-headless-mode=true]\n"
"Parameters:");
desc.add_options()("help,h", "Print help message")("robot-ip", po::value<std::string>(&config.robot_ip)->required(),
"\tRequired. IP address of the robot.")(
"use-headless-mode", po::value<bool>(&config.headless_mode)->required()->implicit_value(true),
"\tRequired. Use headless mode.")("local-ip", po::value<std::string>(&config.local_ip)->default_value(""),
"\tOptional. IP address of the local network interface.");
po::variables_map vm;
try {
po::store(po::parse_command_line(argc, argv, desc), vm);
if (vm.count("help")) {
std::cout << desc << std::endl;
return 0;
}
po::notify(vm);
} catch (const po::error& e) {
std::cerr << "Argument error: " << e.what() << "\n\n";
std::cerr << desc << "\n";
return 1;
}
if (config.headless_mode) {
ELITE_LOG_WARN("Use headless mode. Please ensure the robot is not in local mode.");
} else {
ELITE_LOG_WARN(
"It needs to be correctly configured, and the External Control plugin should be inserted into the task tree.");
}
config.script_file_path = "external_control.script";
std::unique_ptr<TrajectoryControl> trajectory_control = std::make_unique<TrajectoryControl>(config);
std::unique_ptr<RtsiIOInterface> rtsi_client = std::make_unique<RtsiIOInterface>("output_recipe.txt", "input_recipe.txt", 250);
ELITE_LOG_INFO("Connecting to the RTSI");
if (!rtsi_client->connect(config.robot_ip)) {
ELITE_LOG_FATAL("Fail to connect or config to the RTSI.");
throw std::runtime_error("Fail to connect or config to the RTSI");
}
ELITE_LOG_INFO("Successfully connected to the RTSI");
ELITE_LOG_INFO("Starting trajectory control...");
if(!trajectory_control->startControl()) {
ELITE_LOG_FATAL("Failed to start trajectory control.");
return 1;
}
ELITE_LOG_INFO("Trajectory control started");
vector6d_t actual_joints = rtsi_client->getActualJointPositions();
actual_joints[3] = -1.57;
ELITE_LOG_INFO("Moving joints to target: [%lf, %lf, %lf, %lf, %lf, %lf]",
actual_joints[0], actual_joints[1], actual_joints[2], actual_joints[3], actual_joints[4], actual_joints[5]);
if(!trajectory_control->moveTo(actual_joints, 3, false)) {
ELITE_LOG_FATAL("Failed to move joints to target.");
return 1;
}
ELITE_LOG_INFO("Joints moved to target");
vector6d_t actual_pose = rtsi_client->getActualTCPPose();
std::vector<vector6d_t> trajectory;
actual_pose[2] -= 0.2;
trajectory.push_back(actual_pose);
actual_pose[1] -= 0.2;
trajectory.push_back(actual_pose);
actual_pose[1] += 0.2;
actual_pose[2] += 0.2;
trajectory.push_back(actual_pose);
ELITE_LOG_INFO("Moving joints to target");
if(!trajectory_control->moveTrajectory(trajectory, 3, 0, true)) {
ELITE_LOG_FATAL("Failed to move trajectory.");
return 1;
}
ELITE_LOG_INFO("Joints moved to target");
return 0;
}