From 7fe70c9365c88d06275e82ba1620eaa799552d91 Mon Sep 17 00:00:00 2001
From: Arnaud TANGUY <arn.tanguy@gmail.com>
Date: Thu, 11 Dec 2025 10:56:19 +0100
Subject: [PATCH] feat(panda): Update libfranka for ubuntu 22.04

---
 robots/Panda.cmake | 82 ++++++++++++++++++++++------------------------
 1 file changed, 40 insertions(+), 42 deletions(-)

diff --git a/robots/Panda.cmake b/robots/Panda.cmake
index bdb459b0..e973d6da 100644
--- a/robots/Panda.cmake
+++ b/robots/Panda.cmake
@@ -11,54 +11,42 @@ if(WITH_PandaLIRMM AND NOT WITH_Panda)
   )
 endif()
 
-set(Panda_DEPENDENCIES_FROM_SOURCE_DEFAULT ON)
-if(DPKG AND WITH_ROS_SUPPORT)
-  set(Panda_DEPENDENCIES_FROM_SOURCE_DEFAULT OFF)
-endif()
-cmake_dependent_option(
-  Panda_DEPENDENCIES_FROM_SOURCE "Install Panda dependencies from source"
-  ${Panda_DEPENDENCIES_FROM_SOURCE_DEFAULT} "WITH_Panda" OFF
-)
-
 if(NOT WITH_Panda)
   return()
 endif()
 
-if(Panda_DEPENDENCIES_FROM_SOURCE)
-  AddProject(
-    libfranka
-    GITHUB frankaemika/libfranka
-    GIT_TAG origin/0.8.0
-  )
-  set(mc_panda_DEPENDS libfranka)
-  if(WITH_ROS_SUPPORT)
-    AddCatkinProject(
-      franka_ros
-      GITHUB frankaemika/franka_ros
-      GIT_TAG origin/0.8.1
-      WORKSPACE mc_rtc_ws
-      DEPENDS libfranka
-    )
-    list(APPEND mc_panda_DEPENDS franka_ros)
-  endif()
-else()
-  if(NOT DPKG OR NOT WITH_ROS_SUPPORT)
-    message(
-      FATAL_ERROR
-        "Panda dependencies binaries are only available from ROS APT mirrors, set Panda_DEPENDENCIES_FROM_SOURCE to OFF"
-    )
-  endif()
-  AptInstall(ros-${ROS_DISTRO}-libfranka ros-${ROS_DISTRO}-franka-description)
-endif()
+# See https://frankarobotics.github.io/docs/compatibility.html for compatibility between server on the robot/libfranka client
+# For robots using FER 4.2.2, we are limited to <0.10.0, with 0.9.2 being the latest published tag
+AddProject(
+  libfranka
+  GITHUB frankarobotics/libfranka
+  GIT_TAG 0.9.2
+  APT_DEPENDENCIES libtinyxml2-dev libpoco-dev
+  CMAKE_ARGS -DCMAKE_POLICY_VERSION_MINIMUM=3.5 -DBUILD_EXAMPLES=ON
+)
+set(mc_panda_DEPENDS libfranka)
 
-if(WITH_MC_FRANKA)
-  AptInstall(libcap2-bin) # for setcap
-  AddProject(
-    mc_franka
-    GITHUB jrl-umi3218/mc_franka
-    GIT_TAG origin/master
-    DEPENDS mc_rtc mc_panda
+if(WITH_ROS_SUPPORT)
+  AddCatkinProject(
+    franka_description
+    GITHUB frankarobotics/franka_description
+    GIT_TAG origin/main
+    WORKSPACE mc_rtc_ws
+    DEPENDS libfranka
   )
+  list(APPEND mc_panda_DEPENDS franka_description)
+
+  # XXX: this is now incompatible with libfranka <0.10 which we require
+  # to run on our older robots
+  #
+  # AddCatkinProject(
+  #   franka_ros2
+  #   GITHUB frankarobotics/franka_ros2
+  #   GIT_TAG origin/humble
+  #   WORKSPACE mc_rtc_ws
+  #   DEPENDS libfranka
+  # )
+  # list(APPEND mc_panda_DEPENDS franka_ros2)
 endif()
 
 AddProject(
@@ -76,3 +64,13 @@ if(WITH_PandaLIRMM)
     DEPENDS mc_panda
   )
 endif()
+
+if(WITH_MC_FRANKA)
+  AptInstall(libcap2-bin) # for setcap
+  AddProject(
+    mc_franka
+    GITHUB jrl-umi3218/mc_franka
+    GIT_TAG origin/master
+    DEPENDS mc_rtc mc_panda
+  )
+endif()