From 09234b77d965f2dafb38a2bf14a54e26c2a37263 Mon Sep 17 00:00:00 2001 From: Shun Hasegawa Date: Tue, 18 Feb 2025 21:07:26 +0900 Subject: [PATCH 1/2] Enable to compile with libfranka 0.14.1 --- franka_control/CMakeLists.txt | 7 +++++-- franka_example_controllers/CMakeLists.txt | 7 +++++-- franka_gripper/CMakeLists.txt | 7 +++++-- franka_hw/CMakeLists.txt | 7 +++++-- franka_visualization/CMakeLists.txt | 7 +++++-- 5 files changed, 25 insertions(+), 10 deletions(-) diff --git a/franka_control/CMakeLists.txt b/franka_control/CMakeLists.txt index b2e24688f..51d61aead 100644 --- a/franka_control/CMakeLists.txt +++ b/franka_control/CMakeLists.txt @@ -20,9 +20,12 @@ find_package(catkin REQUIRED COMPONENTS std_srvs ) -find_package(Franka 0.9.0 QUIET) +find_package(Franka 0.14.1 QUIET) if(NOT Franka_FOUND) - find_package(Franka 0.8.0 REQUIRED) + find_package(Franka 0.9.0 QUIET) + if(NOT Franka_FOUND) + find_package(Franka 0.8.0 REQUIRED) + endif() endif() # merge Franka + catkin INCLUDE_DIRS in topological order diff --git a/franka_example_controllers/CMakeLists.txt b/franka_example_controllers/CMakeLists.txt index 2ad6b6b09..6b7f4ab12 100644 --- a/franka_example_controllers/CMakeLists.txt +++ b/franka_example_controllers/CMakeLists.txt @@ -26,9 +26,12 @@ find_package(catkin REQUIRED COMPONENTS ) find_package(Eigen3 REQUIRED) -find_package(Franka 0.9.0 QUIET) +find_package(Franka 0.14.1 QUIET) if(NOT Franka_FOUND) - find_package(Franka 0.8.0 REQUIRED) + find_package(Franka 0.9.0 QUIET) + if(NOT Franka_FOUND) + find_package(Franka 0.8.0 REQUIRED) + endif() endif() # merge Franka + INCLUDE_DIRS in topological order diff --git a/franka_gripper/CMakeLists.txt b/franka_gripper/CMakeLists.txt index 6a830b389..b0c833f69 100644 --- a/franka_gripper/CMakeLists.txt +++ b/franka_gripper/CMakeLists.txt @@ -14,9 +14,12 @@ find_package(catkin REQUIRED COMPONENTS actionlib_msgs ) -find_package(Franka 0.9.0 QUIET) +find_package(Franka 0.14.1 QUIET) if(NOT Franka_FOUND) - find_package(Franka 0.8.0 REQUIRED) + find_package(Franka 0.9.0 QUIET) + if(NOT Franka_FOUND) + find_package(Franka 0.8.0 REQUIRED) + endif() endif() # merge Franka + catkin INCLUDE_DIRS in topological order diff --git a/franka_hw/CMakeLists.txt b/franka_hw/CMakeLists.txt index d7888a831..960df3880 100644 --- a/franka_hw/CMakeLists.txt +++ b/franka_hw/CMakeLists.txt @@ -18,9 +18,12 @@ find_package(catkin REQUIRED COMPONENTS message_generation ) -find_package(Franka 0.9.0 QUIET) +find_package(Franka 0.14.1 QUIET) if(NOT Franka_FOUND) - find_package(Franka 0.8.0 REQUIRED) + find_package(Franka 0.9.0 QUIET) + if(NOT Franka_FOUND) + find_package(Franka 0.8.0 REQUIRED) + endif() endif() # merge Franka + catkin INCLUDE_DIRS in topological order diff --git a/franka_visualization/CMakeLists.txt b/franka_visualization/CMakeLists.txt index d8c55a32c..e7370a8d2 100644 --- a/franka_visualization/CMakeLists.txt +++ b/franka_visualization/CMakeLists.txt @@ -9,9 +9,12 @@ find_package(catkin REQUIRED COMPONENTS roscpp ) -find_package(Franka 0.9.0 QUIET) +find_package(Franka 0.14.1 QUIET) if(NOT Franka_FOUND) - find_package(Franka 0.8.0 REQUIRED) + find_package(Franka 0.9.0 QUIET) + if(NOT Franka_FOUND) + find_package(Franka 0.8.0 REQUIRED) + endif() endif() # merge Franka + catkin INCLUDE_DIRS in topological order From cada70b9b8748fcb7ac67fcf6360d66ca749d9da Mon Sep 17 00:00:00 2001 From: Shun Hasegawa Date: Mon, 7 Jul 2025 19:51:57 +0900 Subject: [PATCH 2/2] Enable to compile with libfranka 0.15.0 --- franka_control/CMakeLists.txt | 9 ++++++--- franka_example_controllers/CMakeLists.txt | 9 ++++++--- franka_gripper/CMakeLists.txt | 9 ++++++--- franka_hw/CMakeLists.txt | 9 ++++++--- franka_visualization/CMakeLists.txt | 9 ++++++--- 5 files changed, 30 insertions(+), 15 deletions(-) diff --git a/franka_control/CMakeLists.txt b/franka_control/CMakeLists.txt index 51d61aead..945fd3490 100644 --- a/franka_control/CMakeLists.txt +++ b/franka_control/CMakeLists.txt @@ -20,11 +20,14 @@ find_package(catkin REQUIRED COMPONENTS std_srvs ) -find_package(Franka 0.14.1 QUIET) +find_package(Franka 0.15.0 QUIET) if(NOT Franka_FOUND) - find_package(Franka 0.9.0 QUIET) + find_package(Franka 0.14.1 QUIET) if(NOT Franka_FOUND) - find_package(Franka 0.8.0 REQUIRED) + find_package(Franka 0.9.0 QUIET) + if(NOT Franka_FOUND) + find_package(Franka 0.8.0 REQUIRED) + endif() endif() endif() diff --git a/franka_example_controllers/CMakeLists.txt b/franka_example_controllers/CMakeLists.txt index 6b7f4ab12..d8fcf35ff 100644 --- a/franka_example_controllers/CMakeLists.txt +++ b/franka_example_controllers/CMakeLists.txt @@ -26,11 +26,14 @@ find_package(catkin REQUIRED COMPONENTS ) find_package(Eigen3 REQUIRED) -find_package(Franka 0.14.1 QUIET) +find_package(Franka 0.15.0 QUIET) if(NOT Franka_FOUND) - find_package(Franka 0.9.0 QUIET) + find_package(Franka 0.14.1 QUIET) if(NOT Franka_FOUND) - find_package(Franka 0.8.0 REQUIRED) + find_package(Franka 0.9.0 QUIET) + if(NOT Franka_FOUND) + find_package(Franka 0.8.0 REQUIRED) + endif() endif() endif() diff --git a/franka_gripper/CMakeLists.txt b/franka_gripper/CMakeLists.txt index b0c833f69..a722d40c8 100644 --- a/franka_gripper/CMakeLists.txt +++ b/franka_gripper/CMakeLists.txt @@ -14,11 +14,14 @@ find_package(catkin REQUIRED COMPONENTS actionlib_msgs ) -find_package(Franka 0.14.1 QUIET) +find_package(Franka 0.15.0 QUIET) if(NOT Franka_FOUND) - find_package(Franka 0.9.0 QUIET) + find_package(Franka 0.14.1 QUIET) if(NOT Franka_FOUND) - find_package(Franka 0.8.0 REQUIRED) + find_package(Franka 0.9.0 QUIET) + if(NOT Franka_FOUND) + find_package(Franka 0.8.0 REQUIRED) + endif() endif() endif() diff --git a/franka_hw/CMakeLists.txt b/franka_hw/CMakeLists.txt index 960df3880..f49699bec 100644 --- a/franka_hw/CMakeLists.txt +++ b/franka_hw/CMakeLists.txt @@ -18,11 +18,14 @@ find_package(catkin REQUIRED COMPONENTS message_generation ) -find_package(Franka 0.14.1 QUIET) +find_package(Franka 0.15.0 QUIET) if(NOT Franka_FOUND) - find_package(Franka 0.9.0 QUIET) + find_package(Franka 0.14.1 QUIET) if(NOT Franka_FOUND) - find_package(Franka 0.8.0 REQUIRED) + find_package(Franka 0.9.0 QUIET) + if(NOT Franka_FOUND) + find_package(Franka 0.8.0 REQUIRED) + endif() endif() endif() diff --git a/franka_visualization/CMakeLists.txt b/franka_visualization/CMakeLists.txt index e7370a8d2..50d6abe0c 100644 --- a/franka_visualization/CMakeLists.txt +++ b/franka_visualization/CMakeLists.txt @@ -9,11 +9,14 @@ find_package(catkin REQUIRED COMPONENTS roscpp ) -find_package(Franka 0.14.1 QUIET) +find_package(Franka 0.15.0 QUIET) if(NOT Franka_FOUND) - find_package(Franka 0.9.0 QUIET) + find_package(Franka 0.14.1 QUIET) if(NOT Franka_FOUND) - find_package(Franka 0.8.0 REQUIRED) + find_package(Franka 0.9.0 QUIET) + if(NOT Franka_FOUND) + find_package(Franka 0.8.0 REQUIRED) + endif() endif() endif()