drake-franka-driver/MODULE.bazel at 3c13feb109b1a94253b16e03cc74531f7888882e · RobotLocomotion/drake-franka-driver · GitHub

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module(name = "drake_franka_driver")

bazel_dep(name = "platforms", version = "1.0.0")
bazel_dep(name = "rules_cc", version = "0.2.9")
bazel_dep(name = "rules_python", version = "1.6.3")
bazel_dep(name = "gflags", version = "2.2.2")
bazel_dep(name = "rules_shell", version = "0.6.1")

bazel_dep(name = "buildifier_prebuilt", version = "8.2.0.2", dev_dependency = True)

# Pinocchio is required for libfranka v5 (FR3 robots) dynamics computations.
# Version 2.6.21 provides the rigid body dynamics needed by the modern libfranka API.
bazel_dep(name = "pinocchio", version = "2.6.21.bcr.4")

# LCM (Lightweight Communications and Marshalling) for inter-process communication.
# Using a specific commit from the main branch for latest features.
LCM_COMMIT = "4f9f586e9fda1ab2d5e12427386226519f65b6de"

bazel_dep(name = "lcm")
archive_override(
    module_name = "lcm",
    sha256 = "d2de73ea17993d3586eb9559b48ac3e35dd68064ad6abbdd3e0d4081e5b90685",
    strip_prefix = "lcm-{}".format(LCM_COMMIT.lstrip("v")),
    urls = [x.format(LCM_COMMIT) for x in [
        "https://github.com/lcm-proj/lcm/archive/{}.tar.gz",
    ]],
)

bazel_dep(name = "drake")

# Drake version configuration.
DRAKE_COMMIT = "v1.45.0"

DRAKE_CHECKSUM = "fd70210cbbe233b78bb6df2d8f42c7334ea15fca8833865322d788ab4eaf0c16"

archive_override(
    module_name = "drake",
    sha256 = DRAKE_CHECKSUM,
    strip_prefix = "drake-{}".format(DRAKE_COMMIT.lstrip("v")),
    urls = [x.format(DRAKE_COMMIT) for x in [
        "https://github.com/RobotLocomotion/drake/archive/{}.tar.gz",
    ]],
)

# Use the host system /usr/bin/python3.
python_repository = use_repo_rule(
    "@drake//tools/workspace/python:repository.bzl",
    "python_repository",
)

python_repository(
    name = "python",
    linux_interpreter_path = "/usr/bin/python3",
    requirements_flavor = "build",
)

register_toolchains("@python//:all")

# Import Drake's public dependencies (deprecated pycodestyle, buildifier).
drake_dep_repositories = use_extension(
    "@drake//tools/workspace:default.bzl",
    "drake_dep_repositories",
)
use_repo(
    drake_dep_repositories,
    "buildifier",
    "pycodestyle",
)

# Import Drake's internal dependencies for linting tools.
internal_repositories = use_extension(
    "@drake//tools/workspace:default.bzl",
    "internal_repositories",
)
use_repo(
    internal_repositories,
    "cpplint_internal",
    "pycodestyle_internal",
    "styleguide_internal",
)

# Create aliases for Drake dependencies that libfranka needs to access.
# Drake uses a flag-based system to switch between module and pkgconfig versions.
# We'll use Drake's eigen_repository to get the configured version.
eigen_repository = use_repo_rule(
    "@drake//tools/workspace/eigen:repository.bzl",
    "eigen_repository",
)

eigen_repository(name = "eigen")

# Import external dependencies for Franka robot control.
# This provides:
#   - drake_models: Robot URDF/SDF models for visualization and simulation
#   - libfranka_v4 (0.9.0): Control library for FE3 robots with firmware v4.x
#   - libfranka_v5 (~0.15.0): Control library for FR3 robots with firmware v5.x
#   - libfranka_common_v4/v5: Shared protocol definitions for each version
external_repos = use_extension(
    "//tools/workspace:external_repositories.bzl",
    "external_repositories",
)
use_repo(
    external_repos,
    "drake_models",
    "libfranka_common_v4",
    "libfranka_common_v5",
    "libfranka_v4",
    "libfranka_v5",
)

# Poco repository (system library from /usr).
poco_repository = use_repo_rule(
    "//tools/workspace/poco:repository.bzl",
    "poco_repository",
)

poco_repository(name = "poco")