Merge pull request #338 from traversaro/addfrankaros2

Add franka_ros2 package on Linux

Author: Tobias-Fischer

patch/dependencies.yaml

@@ -264,3 +264,19 @@ wasm_cpp:
 aws_sdk_cpp_vendor:
   add_host: ["aws-sdk-cpp"]
   add_run: ["aws-sdk-cpp"]
+# Workaround for https://github.com/frankarobotics/franka_ros2/pull/169
+franka_hardware:
+  add_host: ["ros-humble-rclcpp-action", "ros-humble-rclcpp-components"]
+  add_run: ["ros-humble-rclcpp-action",  "ros-humble-rclcpp-components"]
+franka_semantic_components:
+  add_host: ["ros-humble-urdf", "ros-humble-controller-interface"]
+  add_run: ["ros-humble-urdf", "ros-humble-controller-interface"]
+franka_robot_state_broadcaster:
+  add_host: ["ros-humble-visualization-msgs"]
+  add_run: ["ros-humble-visualization-msgs"]
+franka_example_controllers:
+  add_host: ["ros-humble-moveit-core"]
+  add_run: ["ros-humble-moveit-core"]
+franka_ign_ros2_control:
+  add_host: ["ros-humble-urdf", "ros-humble-kdl-parser", "ros-humble-tf2-geometry-msgs", "ros-humble-tf2-eigen", "${{ 'libgl-devel' if linux }}"]
+  add_run: ["ros-humble-urdf", "ros-humble-kdl-parser", "ros-humble-tf2-geometry-msgs", "ros-humble-tf2-eigen"]

patch/ros-humble-libfranka.patch

@@ -0,0 +1,22 @@
+From 0eba7a396c5fce06f220f023608715bd119ec5d9 Mon Sep 17 00:00:00 2001
+From: Silvio Traversaro <[email protected]>
+Date: Sat, 2 Aug 2025 15:12:14 +0200
+Subject: [PATCH] Fix compilation with Poco >= 1.12
+
+---
+ test/mock_server.cpp | 2 +-
+ 1 file changed, 1 insertion(+), 1 deletion(-)
+
+diff --git a/test/mock_server.cpp b/test/mock_server.cpp
+index 1cc7edac..6f4fb3c6 100644
+--- a/test/mock_server.cpp
++++ b/test/mock_server.cpp
+@@ -116,7 +116,7 @@ void MockServer<C>::serverThread() {
+                            : typename C::Connect::Response(C::Connect::Status::kSuccess);
+       });
+ 
+-  Poco::Net::DatagramSocket udp_socket({kHostname, 0});
++  Poco::Net::DatagramSocket udp_socket({kHostname, 0}, /*reuseAddress*/ false);
+   udp_socket.setBlocking(true);
+   Socket udp_socket_wrapper;
+   udp_socket_wrapper.sendBytes = [&](const void* data, size_t size) {

vinca.yaml

@@ -363,6 +363,9 @@ packages_select_by_deps:
       # CMake errors related to OpenCV on macos, probably fixable
       - moveit_ros_perception
       - moveit_runtime
+      # Franka robots suppot
+      # See https://github.com/RoboStack/ros-humble/pull/338#issuecomment-3146453142 for macos and Windows errors
+      - franka_ros2
 
   # These packages are currently not build on Windows, but they may with some work
   - if: not wasm32 and not win