Add franka_ros2 package on Linux

[traversaro]

According to https://github.com/garylvov/pixidock_template this may be useful, let's see if it is tricky to package.

fyi @garylvov

[traversaro]

macOS is failing due to some options missing on macOS:

 │ │ [15/184] Building CXX object CMakeFiles/franka.dir/src/network.cpp.o
 │ │ FAILED: [code=1] CMakeFiles/franka.dir/src/network.cpp.o 
 │ │ $BUILD_PREFIX/bin/arm64-apple-darwin20.0.0-clang++ -DBOOST_MPL_LIMIT_LIST_SIZE=30 -DBOOST_MPL_LIMIT_VECTOR_SIZE=30 -DCOAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL -DCOAL_HAS_OCTOMAP -DCOAL_HAVE_OCTOMAP -DFMT_SHARED -DOCTOMAP_MAJOR_VERSION=1 -DOCTOMAP_MINOR_VERSION=10 -DOCTOMAP_PATCH_VERSION=0 -DPINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION -DPINOCCHIO_WITH_EXTRA_SUPPORT -DPINOCCHIO_WITH_HPP_FCL -DPINOCCHIO_WITH_SDFORMAT -DPINOCCHIO_WITH_URDFDOM -DPOCO_CMAKE -DPOCO_ENABLE_CPP11 -DPOCO_ENABLE_CPP14 -DPOCO_HAVE_IPv6 -DPOCO_NO_STAT64 -DPOCO_OS_FAMILY_UNIX -DUTF8PROC_STATIC -Dfranka_EXPORTS -I$SRC_DIR/ros-humble-libfranka/src/work/include -I$PREFIX/include/eigen3 -I$PREFIX/include/gz/sdformat14 -I$PREFIX/include/gz/math7 -I$PREFIX/include/gz/utils2 -I$SRC_DIR/ros-humble-libfranka/src/work/common/include -ftree-vectorize -fPIC -fstack-protector-strong -O2 -pipe -stdlib=libc++ -fvisibility-inlines-hidden -fmessage-length=0 -isystem $PREFIX/include -fdebug-prefix-map=$SRC_DIR=/usr/local/src/conda/ros-humble-libfranka-0.15.0 -fdebug-prefix-map=$PREFIX=/usr/local/src/conda-prefix -DBOOST_ERROR_CODE_HEADER_ONLY -O3 -DNDEBUG -std=gnu++17 -arch arm64 -isysroot /Applications/Xcode_15.4.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX.sdk -mmacosx-version-min=10.15 -fPIC -Wall -Wextra -fopenmp=libomp -MD -MT CMakeFiles/franka.dir/src/network.cpp.o -MF CMakeFiles/franka.dir/src/network.cpp.o.d -o CMakeFiles/franka.dir/src/network.cpp.o -c $SRC_DIR/ros-humble-libfranka/src/work/src/network.cpp
 │ │ $SRC_DIR/ros-humble-libfranka/src/work/src/network.cpp:29:44: error: use of undeclared identifier 'TCP_KEEPIDLE'
 │ │    29 |         tcp_socket_.setOption(IPPROTO_TCP, TCP_KEEPIDLE, std::get<1>(tcp_keepalive));
 │ │       |                                            ^
 │ │ 1 error generated.
 │ │ [16/184] Building CXX object CMakeFiles/franka.dir/src/model_library.cpp.o
 │ │ [17/184] Building CXX object CMakeFiles/franka.dir/src/lowpass_filter.cpp.o
 │ │ [18/184] Building CXX object CMakeFiles/franka.dir/src/rate_limiting.cpp.o
 │ │ [19/184] Building CXX object CMakeFiles/franka.dir/src/model.cpp.o
 │ │ ninja: build stopped: subcommand failed.
 │ │ × error Script failed with status 1

Linux are failing with:

2025-08-02T11:36:26.5391703Z  │ │ [44/184] Building CXX object test/CMakeFiles/run_all_tests.dir/gripper_command_tests.cpp.o
2025-08-02T11:36:27.3210605Z  │ │ [45/184] Building CXX object test/CMakeFiles/run_all_tests.dir/lowpass_filter_tests.cpp.o
2025-08-02T11:36:27.7160459Z  │ │ [46/184] Building CXX object test/CMakeFiles/run_all_tests.dir/active_motion_generator_tests.cpp.o
2025-08-02T11:36:30.0967414Z  │ │ [47/184] Building CXX object test/CMakeFiles/run_all_tests.dir/mock_server.cpp.o
2025-08-02T11:36:30.0968388Z  │ │ FAILED: [code=1] test/CMakeFiles/run_all_tests.dir/mock_server.cpp.o 
2025-08-02T11:36:30.1038690Z  │ │ $BUILD_PREFIX/bin/x86_64-conda-linux-gnu-c++ -DBOOST_MPL_LIMIT_LIST_SIZE=30 -DBOOST_MPL_LIMIT_VECTOR_SIZE=30 -DCOAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL -DCOAL_HAS_OCTOMAP -DCOAL_HAVE_OCTOMAP -DFMT_SHARED -DFRANKA_TEST_BINARY_DIR=\"$SRC_DIR/build/test\" -DOCTOMAP_MAJOR_VERSION=1 -DOCTOMAP_MINOR_VERSION=10 -DOCTOMAP_PATCH_VERSION=0 -DPINOCCHIO_ENABLE_TEMPLATE_INSTANTIATION -DPINOCCHIO_WITH_EXTRA_SUPPORT -DPINOCCHIO_WITH_HPP_FCL -DPINOCCHIO_WITH_SDFORMAT -DPINOCCHIO_WITH_URDFDOM -DPOCO_CMAKE -DPOCO_ENABLE_CPP11 -DPOCO_ENABLE_CPP14 -DPOCO_HAVE_FD_EPOLL -DPOCO_OS_FAMILY_UNIX -DUTF8PROC_STATIC -D_FILE_OFFSET_BITS=64 -D_LARGEFILE64_SOURCE -D_REENTRANT -D_THREAD_SAFE -D_XOPEN_SOURCE=500 -I$SRC_DIR/ros-humble-libfranka/src/work/test -I$SRC_DIR/ros-humble-libfranka/src/work/test/../src -I$SRC_DIR/ros-humble-libfranka/src/work/3rdparty/googletest/googletest/include -I$SRC_DIR/ros-humble-libfranka/src/work/3rdparty/googletest/googlemock/include -I$PREFIX/include/eigen3 -I$SRC_DIR/ros-humble-libfranka/src/work/include -I$SRC_DIR/ros-humble-libfranka/src/work/common/include -I$PREFIX/include/gz/sdformat14 -I$PREFIX/include/gz/math7 -I$PREFIX/include/gz/utils2 -fvisibility-inlines-hidden -fmessage-length=0 -march=nocona -mtune=haswell -ftree-vectorize -fPIC -fstack-protector-strong -fno-plt -O2 -ffunction-sections -pipe -isystem $PREFIX/include -fdebug-prefix-map=$SRC_DIR=/usr/local/src/conda/ros-humble-libfranka-0.15.0 -fdebug-prefix-map=$PREFIX=/usr/local/src/conda-prefix -DBOOST_ERROR_CODE_HEADER_ONLY -D__STDC_FORMAT_MACROS=1 -O3 -DNDEBUG -std=gnu++17 -Wall -Wextra -Wno-deprecated-copy -fopenmp -MD -MT test/CMakeFiles/run_all_tests.dir/mock_server.cpp.o -MF test/CMakeFiles/run_all_tests.dir/mock_server.cpp.o.d -o test/CMakeFiles/run_all_tests.dir/mock_server.cpp.o -c $SRC_DIR/ros-humble-libfranka/src/work/test/mock_server.cpp
2025-08-02T11:36:30.1051060Z  │ │ $SRC_DIR/ros-humble-libfranka/src/work/test/mock_server.cpp: In instantiation of 'void MockServer<C>::serverThread() [with C = RobotTypes]':
2025-08-02T11:36:30.1052725Z  │ │ $SRC_DIR/ros-humble-libfranka/src/work/test/mock_server.cpp:217:16:   required from here
2025-08-02T11:36:30.1055249Z  │ │ $SRC_DIR/ros-humble-libfranka/src/work/test/mock_server.cpp:119:29: error: no matching function for call to 'Poco::Net::DatagramSocket::DatagramSocket(<brace-enclosed initializer list>)'
2025-08-02T11:36:30.1057121Z  │ │   119 |   Poco::Net::DatagramSocket udp_socket({kHostname, 0});
2025-08-02T11:36:30.1057810Z  │ │       |                             ^~~~~~~~~~
2025-08-02T11:36:30.1058635Z  │ │ In file included from $SRC_DIR/ros-humble-libfranka/src/work/test/mock_server.cpp:7:
2025-08-02T11:36:30.1060367Z  │ │ $PREFIX/include/Poco/Net/DatagramSocket.h:283:9: note: candidate: 'Poco::Net::DatagramSocket::DatagramSocket(Poco::Net::SocketImpl*)'
2025-08-02T11:36:30.1061532Z  │ │   283 |         DatagramSocket(SocketImpl* pImpl);
2025-08-02T11:36:30.1062118Z  │ │       |         ^~~~~~~~~~~~~~
2025-08-02T11:36:30.1063544Z  │ │ $PREFIX/include/Poco/Net/DatagramSocket.h:283:36: note:   no known conversion for argument 1 from '<brace-enclosed initializer list>' to 'Poco::Net::SocketImpl*'
2025-08-02T11:36:30.1064813Z  │ │   283 |         DatagramSocket(SocketImpl* pImpl);
2025-08-02T11:36:30.1065668Z  │ │       |                        ~~~~~~~~~~~~^~~~~
2025-08-02T11:36:30.1069376Z  │ │ $PREFIX/include/Poco/Net/DatagramSocket.h:66:9: note: candidate: 'Poco::Net::DatagramSocket::DatagramSocket(const Poco::Net::DatagramSocket&)'
2025-08-02T11:36:30.1070622Z  │ │    66 |         DatagramSocket(const DatagramSocket& socket);
2025-08-02T11:36:30.1071214Z  │ │       |         ^~~~~~~~~~~~~~
2025-08-02T11:36:30.1072797Z  │ │ $PREFIX/include/Poco/Net/DatagramSocket.h:66:46: note:   no known conversion for argument 1 from '<brace-enclosed initializer list>' to 'const Poco::Net::DatagramSocket&'
2025-08-02T11:36:30.1074187Z  │ │    66 |         DatagramSocket(const DatagramSocket& socket);
2025-08-02T11:36:30.1074835Z  │ │       |                        ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
2025-08-02T11:36:30.1076357Z  │ │ $PREFIX/include/Poco/Net/DatagramSocket.h:60:9: note: candidate: 'Poco::Net::DatagramSocket::DatagramSocket(const Poco::Net::Socket&)'
2025-08-02T11:36:30.1116255Z  │ │    60 |         DatagramSocket(const Socket& socket);
2025-08-02T11:36:30.1146077Z  │ │       |         ^~~~~~~~~~~~~~
2025-08-02T11:36:30.1147561Z  │ │ $PREFIX/include/Poco/Net/DatagramSocket.h:60:38: note:   no known conversion for argument 1 from '<brace-enclosed initializer list>' to 'const Poco::Net::Socket&'
2025-08-02T11:36:30.1148881Z  │ │    60 |         DatagramSocket(const Socket& socket);
2025-08-02T11:36:30.1149490Z  │ │       |                        ~~~~~~~~~~~~~~^~~~~~
2025-08-02T11:36:30.1150984Z  │ │ $PREFIX/include/Poco/Net/DatagramSocket.h:51:9: note: candidate: 'Poco::Net::DatagramSocket::DatagramSocket(const Poco::Net::SocketAddress&, bool, bool, bool)'
2025-08-02T11:36:30.1153471Z  │ │    51 |         DatagramSocket(const SocketAddress& address, bool reuseAddress, bool reusePort = false, bool ipV6Only = false);
2025-08-02T11:36:30.1154436Z  │ │       |         ^~~~~~~~~~~~~~
2025-08-02T11:36:30.1155557Z  │ │ $PREFIX/include/Poco/Net/DatagramSocket.h:51:9: note:   candidate expects 4 arguments, 1 provided
2025-08-02T11:36:30.1157251Z  │ │ $PREFIX/include/Poco/Net/DatagramSocket.h:45:18: note: candidate: 'Poco::Net::DatagramSocket::DatagramSocket(Poco::Net::SocketAddress::Family)'
2025-08-02T11:36:30.1158590Z  │ │    45 |         explicit DatagramSocket(SocketAddress::Family family);
2025-08-02T11:36:30.1159248Z  │ │       |                  ^~~~~~~~~~~~~~
2025-08-02T11:36:30.1161045Z  │ │ $PREFIX/include/Poco/Net/DatagramSocket.h:45:55: note:   no known conversion for argument 1 from '<brace-enclosed initializer list>' to 'Poco::Net::SocketAddress::Family' {aka 'Poco::Net::AddressFamily::Family'}
2025-08-02T11:36:30.1162781Z  │ │    45 |         explicit DatagramSocket(SocketAddress::Family family);
2025-08-02T11:36:30.1163503Z  │ │       |                                 ~~~~~~~~~~~~~~~~~~~~~~^~~~~~
2025-08-02T11:36:30.1164667Z  │ │ $PREFIX/include/Poco/Net/DatagramSocket.h:35:9: note: candidate: 'Poco::Net::DatagramSocket::DatagramSocket()'
2025-08-02T11:36:30.1166152Z  │ │    35 |         DatagramSocket();
2025-08-02T11:36:30.1166706Z  │ │       |         ^~~~~~~~~~~~~~
2025-08-02T11:36:30.1167615Z  │ │ $PREFIX/include/Poco/Net/DatagramSocket.h:35:9: note:   candidate expects 0 arguments, 1 provided

but these are just tests, I wonder if we can simply disable them.

[traversaro]

For the linux failure, the ChatGPT suggestion seems to make sense: https://chatgpt.com/share/688dfa18-4cd0-8006-a467-39932d3868c4 .

[traversaro]

Windows failure seems unrelated as it is rebuilding a package already built, probably some bug in the PR machinery.

[traversaro]

Fix submitted upstream in frankarobotics/libfranka#195 .

[traversaro]

New failure on Linux:

2025-08-02T13:24:24.0080104Z  │ │ -- Performing Test CMAKE_HAVE_LIBC_PTHREAD - Failed
2025-08-02T13:24:24.0081031Z  │ │ -- Looking for pthread_create in pthreads
2025-08-02T13:24:24.0529909Z  │ │ -- Looking for pthread_create in pthreads - not found
2025-08-02T13:24:24.0530426Z  │ │ -- Looking for pthread_create in pthread
2025-08-02T13:24:24.1131405Z  │ │ -- Looking for pthread_create in pthread - found
2025-08-02T13:24:24.1143297Z  │ │ -- Found Threads: TRUE
2025-08-02T13:24:24.2191693Z  │ │ CMake Error at CMakeLists.txt:18 (find_package):
2025-08-02T13:24:24.2192913Z  │ │   By not providing "Findrclcpp_action.cmake" in CMAKE_MODULE_PATH this
2025-08-02T13:24:24.2193830Z  │ │   project has asked CMake to find a package configuration file provided by
2025-08-02T13:24:24.2194601Z  │ │   "rclcpp_action", but CMake did not find one.
2025-08-02T13:24:24.2198966Z  │ │   Could not find a package configuration file provided by "rclcpp_action"
2025-08-02T13:24:24.2199608Z  │ │   with any of the following names:
2025-08-02T13:24:24.2200077Z  │ │     rclcpp_actionConfig.cmake
2025-08-02T13:24:24.2200611Z  │ │ -- Configuring incomplete, errors occurred!
2025-08-02T13:24:24.2201352Z  │ │     rclcpp_action-config.cmake
2025-08-02T13:24:24.2202034Z  │ │   Add the installation prefix of "rclcpp_action" to CMAKE_PREFIX_PATH or set
2025-08-02T13:24:24.2202824Z  │ │   "rclcpp_action_DIR" to a directory containing one of the above files.  If
2025-08-02T13:24:24.2203674Z  │ │   "rclcpp_action" provides a separate development package or SDK, be sure it
2025-08-02T13:24:24.2204292Z  │ │   has been installed.
2025-08-02T13:24:24.2282570Z  │ │ × error Script failed with status 1

probably a missing dependency in package.xml ?

[traversaro]

probably a missing dependency in package.xml ?

Fixed uptream in frankarobotics/franka_ros2#169 .

As it seems that a few fixes are required, as a first stane this PR will just concentrate on adding franka_ros2 on Linux.

[Tobias-Fischer]

Looks like it’s good to go?

[traversaro]

Yes, there was a long list of missing dependencies from the package.xml files, but now it should be good to go.

[traversaro]

fyi @garylvov franka packages should now be avalable in robostack-humble on linux platforms.

[garylvov]

Thank you @traversaro !!!

I'll have access to a Franka at the end of the month I'm excited to try it out!