build(franka): require system install poco to reduce compilation load

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
 ```
 

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
 ```
 

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
 ```
 

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()

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 .
 ```
 

extensions/rcs_fr3/debian_deps.txt

@@ -0,0 +1 @@
+libpoco-dev

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()

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 .
 ```
 

extensions/rcs_panda/debian_deps.txt

@@ -0,0 +1 @@
+libpoco-dev