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BarisYaziciBarisYazici
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Merge branch 'fix/push-all-deb-packages'
2 parents 4bc0677 + b0162ef commit 161cce8

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‎.github/workflows/libfranka-build.yml‎

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@@ -5,6 +5,11 @@ on:
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tags:
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- '*'
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workflow_dispatch:
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inputs:
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release_tag:
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description: 'Tag name for release (leave empty for artifacts only)'
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required: false
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type: string
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env:
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REGISTRY: ghcr.io
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echo "Generated packages and checksums:"
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ls -lh build/*.deb build/*.sha256
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- name: Upload Debian package and checksum (manual runs)
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if: github.event_name == 'workflow_dispatch'
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- name: Upload Debian package and checksum
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uses: actions/upload-artifact@v4
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with:
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name: libfranka-${{ matrix.ubuntu_version }}
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build/*.sha256
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retention-days: 30
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- name: Upload to GitHub Release
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if: startsWith(github.ref, 'refs/tags/') && matrix.ubuntu_version == '20.04'
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release:
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name: Create GitHub Release
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needs: [build-deb]
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runs-on: ubuntu-latest
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if: startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.release_tag != '')
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permissions:
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contents: write
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steps:
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- name: Checkout code
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uses: actions/checkout@v4
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- name: Get release info
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id: get_release_info
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run: |
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if [[ "${{ github.event_name }}" == "workflow_dispatch" ]]; then
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TAG="${{ github.event.inputs.release_tag }}"
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else
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TAG=${GITHUB_REF#refs/tags/}
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fi
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echo "tag=$TAG" >> $GITHUB_OUTPUT
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echo "Release tag: $TAG"
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shell: bash
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- name: Download all artifacts
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uses: actions/download-artifact@v4
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with:
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path: packages/
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pattern: libfranka-*
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merge-multiple: true
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- name: Generate checksums summary
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run: |
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echo "Packages to upload:"
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ls -la packages/
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echo ""
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echo "Checksums:"
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cat packages/*.sha256
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- name: Create GitHub Release
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uses: softprops/action-gh-release@v2
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with:
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files: |
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build/*.deb
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build/*.sha256
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generate_release_notes: true
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tag_name: ${{ steps.get_release_info.outputs.tag }}
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name: libfranka ${{ steps.get_release_info.outputs.tag }}
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draft: false
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prerelease: false
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files: packages/*
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generate_release_notes: true
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fail_on_unmatched_files: false
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env:
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GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

‎.github/workflows/pylibfranka-wheels.yml‎

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@@ -231,29 +231,67 @@ jobs:
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uses: softprops/action-gh-release@v2
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with:
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tag_name: ${{ steps.get_release_info.outputs.tag }}
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name: pylibfranka ${{ steps.get_release_info.outputs.version }}
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name: libfranka ${{ steps.get_release_info.outputs.version }}
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draft: false
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prerelease: false
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files: dist/*
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body: |
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# pylibfranka ${{ steps.get_release_info.outputs.version }}
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# libfranka ${{ steps.get_release_info.outputs.version }}
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C++ library and Python bindings for controlling Franka robots.
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---
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## libfranka (C++ Library)
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### Installation from Debian Package
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Download the appropriate `.deb` file for your Ubuntu version from the assets below and install:
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**Ubuntu 20.04 (Focal):**
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```bash
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sudo dpkg -i libfranka_${{ steps.get_release_info.outputs.version }}_focal_amd64.deb
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sudo apt-get install -f # Install dependencies if needed
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```
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**Ubuntu 22.04 (Jammy):**
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```bash
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sudo dpkg -i libfranka_${{ steps.get_release_info.outputs.version }}_jammy_amd64.deb
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sudo apt-get install -f # Install dependencies if needed
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```
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**Ubuntu 24.04 (Noble):**
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```bash
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sudo dpkg -i libfranka_${{ steps.get_release_info.outputs.version }}_noble_amd64.deb
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sudo apt-get install -f # Install dependencies if needed
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```
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### Available Debian Packages
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| Ubuntu Version | Package |
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|----------------|---------|
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| 20.04 (Focal) | `libfranka_${{ steps.get_release_info.outputs.version }}_focal_amd64.deb` |
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| 22.04 (Jammy) | `libfranka_${{ steps.get_release_info.outputs.version }}_jammy_amd64.deb` |
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| 24.04 (Noble) | `libfranka_${{ steps.get_release_info.outputs.version }}_noble_amd64.deb` |
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---
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## pylibfranka (Python Bindings)
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Python bindings for libfranka, providing easy-to-use Python interfaces for controlling Franka robots.
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## Installation
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### Installation
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### From PyPI (Recommended)
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#### From PyPI (Recommended)
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```bash
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pip install pylibfranka==${{ steps.get_release_info.outputs.version }}
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```
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### From GitHub Release
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#### From GitHub Release
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Download the appropriate wheel for your Python version and install:
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```bash
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pip install pylibfranka-${{ steps.get_release_info.outputs.version }}-cp310-cp310-manylinux_2_34_x86_64.whl
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```
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## Platform Compatibility
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### Platform Compatibility
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| Ubuntu Version | Supported Python Versions |
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|----------------|---------------------------|
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**Note:** Ubuntu 20.04 users must use Python 3.9 due to glibc compatibility requirements.
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## Available Wheels
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### Available Wheels
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- Python 3.9: `cp39-cp39-manylinux_2_31_x86_64.whl` (Ubuntu 20.04+)
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- Python 3.10: `cp310-cp310-manylinux_2_34_x86_64.whl` (Ubuntu 22.04+)
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- Python 3.11: `cp311-cp311-manylinux_2_34_x86_64.whl` (Ubuntu 22.04+)
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- Python 3.12: `cp312-cp312-manylinux_2_34_x86_64.whl` (Ubuntu 22.04+)
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- Source: `pylibfranka-${{ steps.get_release_info.outputs.version }}.tar.gz`
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## Quick Start
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### Quick Start
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```python
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import pylibfranka
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print(f"pylibfranka version: {pylibfranka.__version__}")
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state = robot.read_once()
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```
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---
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## Documentation
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- [Examples](https://github.com/frankarobotics/libfranka/tree/main/pylibfranka/examples)
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- [API Documentation](https://frankarobotics.github.io/libfranka/pylibfranka/latest)
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- [README](https://github.com/frankarobotics/libfranka/blob/main/pylibfranka/README.md)
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- [libfranka Documentation](https://frankarobotics.github.io/libfranka/)
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- [pylibfranka Examples](https://github.com/frankarobotics/libfranka/tree/main/pylibfranka/examples)
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- [pylibfranka API Documentation](https://frankarobotics.github.io/libfranka/pylibfranka/latest)
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- [pylibfranka README](https://github.com/frankarobotics/libfranka/blob/main/pylibfranka/README.md)
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publish_pypi:
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name: Publish to PyPI

‎CHANGELOG.md‎

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All notable changes to libfranka in this file.
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## [Unreleased]
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## [0.20.2]
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### libfranka - C++
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- Fix the github workflow to push all the debian packages from 20.4, 22.04 and 24.04
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### pylibfranka - Python
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#### Added
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- Automated publishing to PyPI via GitHub Actions workflow. When a version tag is pushed, the workflow automatically builds wheels for Python 3.9, 3.10, 3.11, and 3.12, and publishes them to PyPI. Users can now install pylibfranka directly from PyPI using `pip install pylibfranka`.
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- Fix the pylibfranka pybind error with std::nullopt
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## [0.20.1]
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‎CMakeLists.txt‎

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list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
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set(libfranka_VERSION 0.20.1)
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set(libfranka_VERSION 0.20.2)
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project(libfranka
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VERSION ${libfranka_VERSION}

‎package.xml‎

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schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>libfranka</name>
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<version>0.20.1</version>
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<version>0.20.2</version>
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<description>libfranka is a C++ library for Franka Robotics research robots</description>
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<maintainer email="support@franka.de">Franka Robotics GmbH</maintainer>
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<license>Apache 2.0</license>

‎pylibfranka/src/async_control.cpp‎

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@return CommandResult containing the motion UUID, success flag, and error message
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)pbdoc")
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.def("get_target_feedback", &franka::AsyncPositionControlHandler::getTargetFeedback,
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py::arg("robot_state") = std::nullopt, R"pbdoc(
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py::arg("robot_state") = py::none(), R"pbdoc(
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Get feedback on the current target.
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@param robot_state Optional current robot state for more detailed feedback

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