Add documentation for freedrive mode example

Author: urfeex

doc/examples.rst

@@ -12,4 +12,5 @@ starting point for your own applications.
 
    examples/dashboard_client
    examples/force_mode
+   examples/freedrive
    examples/ur_driver

doc/examples/freedrive.rst

@@ -0,0 +1,70 @@
+:github_url: https://github.com/UniversalRobots/Universal_Robots_Client_Library/blob/master/doc/examples/freedrive.rst
+
+Freedrive Mode example
+======================
+
+`Freedrive
+<https://www.universal-robots.com/manuals/EN/HTML/SW5_20/Content/prod-scriptmanual/G5/freedrive_mode.htm>`_
+allows the robot arm to be manually pulled into desired positions and/or poses. The joints move
+with little resistance because the brakes are released.
+
+An example to utilize the freedrive mode can be found in the `freedrive_example.cpp <https://github.com/UniversalRobots/Universal_Robots_Client_Library/blob/master/examples/freedrive_example.cpp>`_.
+
+.. note:: For the following example to work on an e-Series (PolyScope 5) robot, the robot has to be
+   in *remote control mode*.
+
+At first, we create a ``ExampleRobotWrapper`` object in order to initialize communication with the
+robot.
+
+.. literalinclude:: ../../examples/freedrive_example.cpp
+   :language: c++
+   :caption: examples/freedrive_example.cpp
+   :linenos:
+   :lineno-match:
+   :start-at: bool headless_mode = true;
+   :end-before: URCL_LOG_INFO("Starting freedrive mode");
+
+
+Start freedrive mode
+--------------------
+
+The ``UrDriver`` provides a method to start freedrive mode directly:
+
+.. literalinclude:: ../../examples/freedrive_example.cpp
+   :language: c++
+   :caption: examples/freedrive_example.cpp
+   :linenos:
+   :lineno-match:
+   :start-at: URCL_LOG_INFO("Starting freedrive mode");
+   :end-at: sendFreedriveMessageOrDie(control::FreedriveControlMessage::FREEDRIVE_START);
+
+As it is potentially dangerous to leave the robot in freedrive mode, the robot program expect
+frequent keepalive messages to verify that the remote connection is still available and freedrive
+mode is being expected to be active.
+
+Freedrive mode will be active from this point on until it is either stopped, or no keepalive
+message is received by the robot anymore.
+
+Therefore, we have to make sure to send regular keepalive messages to the robot. The following
+section will keep freedrive mode active for a period of time defined in ``seconds_to_run``.
+
+.. literalinclude:: ../../examples/freedrive_example.cpp
+   :language: c++
+   :caption: examples/freedrive_example.cpp
+   :linenos:
+   :lineno-match:
+   :start-at: std::chrono::duration<double> time_done(0);
+   :end-before: sendFreedriveMessageOrDie(control::FreedriveControlMessage::FREEDRIVE_STOP);
+
+Stop force Mode
+---------------
+
+To stop force mode either stop sending keepalive signals or request deactivating it explicitly:
+
+.. literalinclude:: ../../examples/freedrive_example.cpp
+   :language: c++
+   :caption: examples/freedrive_example.cpp
+   :linenos:
+   :lineno-match:
+   :start-at: sendFreedriveMessageOrDie(control::FreedriveControlMessage::FREEDRIVE_STOP);
+   :end-at: sendFreedriveMessageOrDie(control::FreedriveControlMessage::FREEDRIVE_STOP);

examples/freedrive_example.cpp

@@ -58,7 +58,7 @@ void sendFreedriveMessageOrDie(const control::FreedriveControlMessage freedrive_
   bool ret = g_my_robot->ur_driver_->writeFreedriveControlMessage(freedrive_action);
   if (!ret)
   {
-    URCL_LOG_ERROR("Could not send freedrive command. Is the robot in remote control?");
+    URCL_LOG_ERROR("Could not send joint command. Is there an external_control program running on the robot?");
     exit(1);
   }
 }
@@ -106,6 +106,7 @@ int main(int argc, char* argv[])
     stopwatch_now = std::chrono::steady_clock::now();
     time_done += stopwatch_now - stopwatch_last;
     stopwatch_last = stopwatch_now;
+    std::this_thread::sleep_for(std::chrono::milliseconds(2));
   }
 
   URCL_LOG_INFO("Stopping freedrive mode");