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feat(panda): Update libfranka for ubuntu 22.04 #59

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feat(panda): Update libfranka for ubuntu 22.04 #59

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82 changes: 40 additions & 42 deletions robots/Panda.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -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(
Expand All @@ -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()