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juelgjuelg
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test(franka): libxml, poco and bridge console in cmake
1 parent 64ac60e commit e870ff9

4 files changed

Lines changed: 103 additions & 15 deletions

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‎debian_deps.txt‎

Lines changed: 1 addition & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -1,6 +1,3 @@
11
build-essential
22
gcc
3-
libpoco-dev
4-
libglfw3-dev
5-
libconsole-bridge-dev
6-
libtinyxml2-dev
3+
libglfw3-dev

‎extensions/rcs_fr3/CMakeLists.txt‎

Lines changed: 55 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,4 @@
1-
cmake_minimum_required(VERSION 3.19)
1+
cmake_minimum_required(VERSION 3.24)
22

33
project(
44
rcs_fr3
@@ -17,6 +17,7 @@ set(CMAKE_POLICY_DEFAULT_CMP0063 NEW)
1717
cmake_policy(SET CMP0072 NEW) # Use GLVND instead of legacy libGL.so
1818
cmake_policy(SET CMP0135 NEW) # Use timestamp of file extraction not download
1919
cmake_policy(SET CMP0140 NEW) # Check return arguments
20+
# set(CMAKE_FIND_PACKAGE_PREFER_CONFIG TRUE)
2021

2122
set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib)
2223
set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib)
@@ -66,9 +67,60 @@ FetchContent_Declare(Eigen3
6667
GIT_TAG 3.4.1
6768
GIT_PROGRESS TRUE
6869
EXCLUDE_FROM_ALL
70+
OVERRIDE_FIND_PACKAGE # <- This is the magic bullet!
6971
)
72+
# --- tinyxml2 ---
73+
FetchContent_Declare(
74+
tinyxml2
75+
GIT_REPOSITORY https://github.com/leethomason/tinyxml2.git
76+
GIT_TAG 10.0.0 # Or the specific version you need
77+
GIT_PROGRESS TRUE
78+
EXCLUDE_FROM_ALL
79+
OVERRIDE_FIND_PACKAGE # <- This is the magic bullet!
80+
)
81+
82+
# --- console_bridge ---
83+
FetchContent_Declare(
84+
console_bridge
85+
GIT_REPOSITORY https://github.com/ros/console_bridge.git
86+
GIT_TAG 1.0.2 # Standard version used in ROS 2 Humble
87+
GIT_PROGRESS TRUE
88+
EXCLUDE_FROM_ALL
89+
OVERRIDE_FIND_PACKAGE # <- This is the magic bullet!
90+
)
91+
92+
# --- POCO C++ Libraries ---
93+
# POCO is a massive framework. Building the whole thing takes a long time.
94+
# We disable tests, examples, and heavy components you likely don't need for a robot control stack.
95+
set(ENABLE_TESTS OFF CACHE BOOL "Disable POCO tests" FORCE)
96+
set(ENABLE_DATA_MYSQL OFF CACHE BOOL "Disable POCO MySQL" FORCE)
97+
set(ENABLE_DATA_ODBC OFF CACHE BOOL "Disable POCO ODBC" FORCE)
98+
set(ENABLE_PAGECOMPILER OFF CACHE BOOL "Disable POCO PageCompiler" FORCE)
99+
set(ENABLE_PAGECOMPILER_FILE2PAGE OFF CACHE BOOL "" FORCE)
100+
101+
FetchContent_Declare(
102+
Poco
103+
GIT_REPOSITORY https://github.com/pocoproject/poco.git
104+
GIT_TAG poco-1.13.3-release
105+
GIT_PROGRESS TRUE
106+
EXCLUDE_FROM_ALL
107+
OVERRIDE_FIND_PACKAGE # <- This is the magic bullet!
108+
)
109+
110+
FetchContent_MakeAvailable(pybind11 Eigen3 tinyxml2 console_bridge Poco)
111+
if(NOT TARGET Eigen3::Eigen3)
112+
add_library(Eigen3::Eigen3 ALIAS eigen)
113+
endif()
114+
115+
# Bridge tinyxml2 (Just in case)
116+
if(NOT TARGET TinyXML2::TinyXML2)
117+
add_library(TinyXML2::TinyXML2 ALIAS tinyxml2)
118+
endif()
70119

71-
FetchContent_MakeAvailable(Eigen3)
72-
FetchContent_MakeAvailable(libfranka pybind11)
120+
# Bridge console_bridge (Just in case)
121+
if(NOT TARGET console_bridge::console_bridge)
122+
add_library(console_bridge::console_bridge ALIAS console_bridge)
123+
endif()
124+
FetchContent_MakeAvailable(libfranka)
73125

74126
add_subdirectory(src)

‎extensions/rcs_panda/CMakeLists.txt‎

Lines changed: 41 additions & 6 deletions
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,4 @@
1-
cmake_minimum_required(VERSION 3.5)
1+
cmake_minimum_required(VERSION 3.24)
22

33
project(
44
rcs_panda
@@ -31,14 +31,11 @@ set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
3131

3232
set(BUILD_SHARED_LIBS OFF)
3333
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
34+
# set(CMAKE_FIND_PACKAGE_PREFER_CONFIG TRUE)
3435

3536
# turn off libfranka tests
3637
set(BUILD_TESTS OFF)
3738
set(BUILD_EXAMPLES OFF)
38-
set(RL_BUILD_DEMOS OFF)
39-
set(RL_BUILD_RL_SG OFF)
40-
set(RL_BUILD_TESTS OFF)
41-
set(RL_BUILD_EXTRAS OFF)
4239
set(BUILD_PYTHON_INTERFACE OFF)
4340
set(BUILD_DOCUMENTATION OFF)
4441

@@ -66,9 +63,47 @@ FetchContent_Declare(Eigen3
6663
GIT_TAG 3.4.1
6764
GIT_PROGRESS TRUE
6865
EXCLUDE_FROM_ALL
66+
OVERRIDE_FIND_PACKAGE # <- This is the magic bullet!
6967
)
7068

71-
FetchContent_MakeAvailable(libfranka pybind11 Eigen3)
69+
# --- console_bridge ---
70+
FetchContent_Declare(
71+
console_bridge
72+
GIT_REPOSITORY https://github.com/ros/console_bridge.git
73+
GIT_TAG 1.0.2 # Standard version used in ROS 2 Humble
74+
GIT_PROGRESS TRUE
75+
EXCLUDE_FROM_ALL
76+
OVERRIDE_FIND_PACKAGE # <- This is the magic bullet!
77+
)
78+
79+
# --- POCO C++ Libraries ---
80+
# POCO is a massive framework. Building the whole thing takes a long time.
81+
# We disable tests, examples, and heavy components you likely don't need for a robot control stack.
82+
set(ENABLE_TESTS OFF CACHE BOOL "Disable POCO tests" FORCE)
83+
set(ENABLE_DATA_MYSQL OFF CACHE BOOL "Disable POCO MySQL" FORCE)
84+
set(ENABLE_DATA_ODBC OFF CACHE BOOL "Disable POCO ODBC" FORCE)
85+
set(ENABLE_PAGECOMPILER OFF CACHE BOOL "Disable POCO PageCompiler" FORCE)
86+
set(ENABLE_PAGECOMPILER_FILE2PAGE OFF CACHE BOOL "" FORCE)
87+
88+
FetchContent_Declare(
89+
Poco
90+
GIT_REPOSITORY https://github.com/pocoproject/poco.git
91+
GIT_TAG poco-1.13.3-release
92+
GIT_PROGRESS TRUE
93+
EXCLUDE_FROM_ALL
94+
OVERRIDE_FIND_PACKAGE # <- This is the magic bullet!
95+
)
96+
97+
FetchContent_MakeAvailable(pybind11 Eigen3 console_bridge Poco)
98+
if(NOT TARGET Eigen3::Eigen3)
99+
add_library(Eigen3::Eigen3 ALIAS eigen)
100+
endif()
101+
102+
# Bridge console_bridge (Just in case)
103+
if(NOT TARGET console_bridge::console_bridge)
104+
add_library(console_bridge::console_bridge ALIAS console_bridge)
105+
endif()
106+
FetchContent_MakeAvailable(libfranka)
72107
set_target_properties(franka PROPERTIES CXX_STANDARD 17)
73108

74109
add_subdirectory(src_fr3)

‎extensions/rcs_robotics_library/CMakeLists.txt‎

Lines changed: 6 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,4 @@
1-
cmake_minimum_required(VERSION 3.19)
1+
cmake_minimum_required(VERSION 3.24)
22

33
project(
44
rcs_fr3
@@ -31,6 +31,7 @@ set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
3131

3232
set(BUILD_SHARED_LIBS OFF)
3333
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
34+
# set(CMAKE_FIND_PACKAGE_PREFER_CONFIG TRUE)
3435

3536
set(RL_BUILD_DEMOS OFF)
3637
set(RL_BUILD_RL_SG OFF)
@@ -62,8 +63,11 @@ FetchContent_Declare(Eigen3
6263
GIT_TAG 3.4.1
6364
GIT_PROGRESS TRUE
6465
EXCLUDE_FROM_ALL
66+
OVERRIDE_FIND_PACKAGE # <- This is the magic bullet!
6567
)
6668

67-
FetchContent_MakeAvailable(rl pybind11 Eigen3)
69+
FetchContent_MakeAvailable(pybind11 Eigen3)
70+
install(TARGETS eigen EXPORT rl)
71+
FetchContent_MakeAvailable(rl)
6872

6973
add_subdirectory(src)

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