验证连接
上一节描述了如何设定控制器 LAN 端口的 IP 地址。在后文中，该地址称为 <fci-ip>。
为了验证一切设置是否正确，请确保 在 Desk 中为使用 FCI 的机器人做准备 。并从 libfranka 运行示例 echo_robot_state。如果决定从 ROS 存储库安装 franka_ros 和 libfranka，可以改为阅读 在ros中可视化机器人 的说明 。
切换到构建目录 libfranka 并执行示例：
./examples/echo_robot_state <fci-ip>
该程序会将机器人的当前状态打印到控制台并在几次迭代后终止。在 机器人状态 RobotState 中解释了这些字段的含义。
示例输出：
{
"O_T_EE": [0.998578,0.0328747,-0.0417381,0,0.0335224,-0.999317,0.0149157,0,-0.04122,-0.016294,
-0.999017,0,0.305468,-0.00814133,0.483198,1],
"O_T_EE_d": [0.998582,0.0329548,-0.041575,0,0.0336027,-0.999313,0.0149824,0,-0.0410535,
-0.0163585,-0.999023,0,0.305444,-0.00810967,0.483251,1],
"F_T_EE": [0.7071,-0.7071,0,0,0.7071,0.7071,0,0,0,0,1,0,0,0,0.1034,1],
"EE_T_K": [1,0,0,0,0,1,0,0,0,0,1,0,0,0,0,1],
"m_ee": 0.73, "F_x_Cee": [-0.01,0,0.03], "I_ee": [0.001,0,0,0,0.0025,0,0,0,0.0017],
"m_load": 0, "F_x_Cload": [0,0,0], "I_load": [0,0,0,0,0,0,0,0,0],
"m_total": 0.73, "F_x_Ctotal": [-0.01,0,0.03], "I_total": [0.001,0,0,0,0.0025,0,0,0,0.0017],
"elbow": [-0.0207622,-1], "elbow_d": [-0.0206678,-1],
"tau_J": [-0.00359774,-5.08582,0.105732,21.8135,0.63253,2.18121,-0.0481953],
"tau_J_d": [0,0,0,0,0,0,0],
"dtau_J": [-54.0161,-18.9808,-64.6899,-64.2609,14.1561,28.5654,-11.1858],
"q": [0.0167305,-0.762614,-0.0207622,-2.34352,-0.0305686,1.53975,0.753872],
"dq": [0.00785939,0.00189343,0.00932415,0.0135431,-0.00220327,-0.00492024,0.00213604],
"q_d": [0.0167347,-0.762775,-0.0206678,-2.34352,-0.0305677,1.53975,0.753862],
"dq_d": [0,0,0,0,0,0,0],
"joint_contact": [0,0,0,0,0,0,0], "cartesian_contact": [0,0,0,0,0,0],
"joint_collision": [0,0,0,0,0,0,0], "cartesian_collision": [0,0,0,0,0,0],
"tau_ext_hat_filtered": [0.00187271,-0.700316,0.386035,0.0914781,-0.117258,-0.00667777,
-0.0252562],
"O_F_ext_hat_K": [-2.06065,0.45889,-0.150951,-0.482791,-1.39347,0.109695],
"K_F_ext_hat_K": [-2.03638,-0.529916,0.228266,-0.275938,0.434583,0.0317351],
"theta": [0.01673,-0.763341,-0.0207471,-2.34041,-0.0304783,1.54006,0.753865],
"dtheta": [0,0,0,0,0,0,0],
"current_errors": [], "last_motion_errors": [],
"control_command_success_rate": 0, "robot_mode": "Idle", "time": 3781435
}提示
如果此时出现错误，请执行 ping 测试 并确保机器人的故障保护安全锁止系统已打开。机器人随附的手册中提供了更多信息。