From f629c261e30a239df25c69636d7ffee7d1acab1d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Tobias=20J=C3=BClg?= Date: Wed, 18 Feb 2026 20:43:23 +0100 Subject: [PATCH] build(franka): require system install poco to reduce compilation load --- README.md | 1 + docs/extensions/rcs_fr3.md | 1 + docs/extensions/rcs_panda.md | 1 + extensions/rcs_fr3/CMakeLists.txt | 18 +----------------- extensions/rcs_fr3/README.md | 1 + extensions/rcs_fr3/debian_deps.txt | 1 + extensions/rcs_panda/CMakeLists.txt | 18 +----------------- extensions/rcs_panda/README.md | 1 + extensions/rcs_panda/debian_deps.txt | 1 + 9 files changed, 9 insertions(+), 34 deletions(-) create mode 100644 extensions/rcs_fr3/debian_deps.txt create mode 100644 extensions/rcs_panda/debian_deps.txt diff --git a/README.md b/README.md index b586c210..666f7870 100644 --- a/README.md +++ b/README.md @@ -152,6 +152,7 @@ RCS supports various hardware extensions to seamlessly connect your policies to To install a specific robot extension (example for Franka FR3): ```shell +sudo apt install $(cat extensions/rcs_fr3/debian_deps.txt) pip install -ve extensions/rcs_fr3 ``` diff --git a/docs/extensions/rcs_fr3.md b/docs/extensions/rcs_fr3.md index 7d0154f0..007810c9 100644 --- a/docs/extensions/rcs_fr3.md +++ b/docs/extensions/rcs_fr3.md @@ -6,6 +6,7 @@ This extension provides support for the Franka Research 3 (FR3) robot in RCS. ```shell # from root directory +sudo apt install $(cat extensions/rcs_fr3/debian_deps.txt) pip install -ve extensions/rcs_fr3 ``` diff --git a/docs/extensions/rcs_panda.md b/docs/extensions/rcs_panda.md index 8412c23c..21737704 100644 --- a/docs/extensions/rcs_panda.md +++ b/docs/extensions/rcs_panda.md @@ -6,6 +6,7 @@ This extension provides support for the Franka Emika Panda robot in RCS. ```shell # from root directory +sudo apt install $(cat extensions/rcs_fr3/debian_deps.txt) pip install -ve extensions/rcs_panda ``` diff --git a/extensions/rcs_fr3/CMakeLists.txt b/extensions/rcs_fr3/CMakeLists.txt index 41d61afb..0b739f53 100644 --- a/extensions/rcs_fr3/CMakeLists.txt +++ b/extensions/rcs_fr3/CMakeLists.txt @@ -88,23 +88,7 @@ FetchContent_Declare( OVERRIDE_FIND_PACKAGE ) -# --- POCO C++ Libraries --- -set(ENABLE_TESTS OFF CACHE BOOL "Disable POCO tests" FORCE) -set(ENABLE_DATA_MYSQL OFF CACHE BOOL "Disable POCO MySQL" FORCE) -set(ENABLE_DATA_ODBC OFF CACHE BOOL "Disable POCO ODBC" FORCE) -set(ENABLE_PAGECOMPILER OFF CACHE BOOL "Disable POCO PageCompiler" FORCE) -set(ENABLE_PAGECOMPILER_FILE2PAGE OFF CACHE BOOL "" FORCE) - -FetchContent_Declare( - Poco - GIT_REPOSITORY https://github.com/pocoproject/poco.git - GIT_TAG poco-1.13.3-release - GIT_PROGRESS TRUE - EXCLUDE_FROM_ALL - OVERRIDE_FIND_PACKAGE -) - -FetchContent_MakeAvailable(pybind11 Eigen3 tinyxml2 console_bridge Poco) +FetchContent_MakeAvailable(pybind11 Eigen3 tinyxml2 console_bridge) if(NOT TARGET Eigen3::Eigen3) add_library(Eigen3::Eigen3 ALIAS eigen) endif() diff --git a/extensions/rcs_fr3/README.md b/extensions/rcs_fr3/README.md index 641c3c9c..d1849798 100644 --- a/extensions/rcs_fr3/README.md +++ b/extensions/rcs_fr3/README.md @@ -4,6 +4,7 @@ Extension to control the fr3 with rcs. ## Installation ```shell # go to this directory +sudo apt install $(cat debian_deps.txt) pip install -ve . ``` diff --git a/extensions/rcs_fr3/debian_deps.txt b/extensions/rcs_fr3/debian_deps.txt new file mode 100644 index 00000000..ca7640a6 --- /dev/null +++ b/extensions/rcs_fr3/debian_deps.txt @@ -0,0 +1 @@ +libpoco-dev \ No newline at end of file diff --git a/extensions/rcs_panda/CMakeLists.txt b/extensions/rcs_panda/CMakeLists.txt index 021d64b6..0d82befc 100644 --- a/extensions/rcs_panda/CMakeLists.txt +++ b/extensions/rcs_panda/CMakeLists.txt @@ -75,23 +75,7 @@ FetchContent_Declare( OVERRIDE_FIND_PACKAGE ) -# --- POCO C++ Libraries --- -set(ENABLE_TESTS OFF CACHE BOOL "Disable POCO tests" FORCE) -set(ENABLE_DATA_MYSQL OFF CACHE BOOL "Disable POCO MySQL" FORCE) -set(ENABLE_DATA_ODBC OFF CACHE BOOL "Disable POCO ODBC" FORCE) -set(ENABLE_PAGECOMPILER OFF CACHE BOOL "Disable POCO PageCompiler" FORCE) -set(ENABLE_PAGECOMPILER_FILE2PAGE OFF CACHE BOOL "" FORCE) - -FetchContent_Declare( - Poco - GIT_REPOSITORY https://github.com/pocoproject/poco.git - GIT_TAG poco-1.13.3-release - GIT_PROGRESS TRUE - EXCLUDE_FROM_ALL - OVERRIDE_FIND_PACKAGE -) - -FetchContent_MakeAvailable(pybind11 Eigen3 console_bridge Poco) +FetchContent_MakeAvailable(pybind11 Eigen3 console_bridge) if(NOT TARGET Eigen3::Eigen3) add_library(Eigen3::Eigen3 ALIAS eigen) endif() diff --git a/extensions/rcs_panda/README.md b/extensions/rcs_panda/README.md index f0761872..ce3d9819 100644 --- a/extensions/rcs_panda/README.md +++ b/extensions/rcs_panda/README.md @@ -4,6 +4,7 @@ Extension to control the panda with rcs. ## Installation ```shell # go to this directory +sudo apt install $(cat debian_deps.txt) pip install -ve . ``` diff --git a/extensions/rcs_panda/debian_deps.txt b/extensions/rcs_panda/debian_deps.txt new file mode 100644 index 00000000..ca7640a6 --- /dev/null +++ b/extensions/rcs_panda/debian_deps.txt @@ -0,0 +1 @@ +libpoco-dev \ No newline at end of file