Switch build system to bzlmod, bump all software versions for the FR3

.bazeliskrc

@@ -0,0 +1 @@
+USE_BAZEL_VERSION=8.4.2

.bazelrc

@@ -1,15 +1,25 @@
-# Default to an optimized build to match Drake.
-build -c opt
+# Default to an optimized build.
+build --compilation_mode=opt
 
-# Default build options to match Drake.
+# Default build options.
 build --force_pic
 build --strip=never
-build --strict_system_includes
+
+# Default test options.
+build --test_output=errors
+build --test_summary=terse
 
 # Use C++20.
-# Bazel has two universes of command-line copts and linkopts: the "target"
-# config (`--copt`) and the "host" aka "exec" config (`--host_copt`).
-# Since franka_driver doesn't cross-compile, we want the two configs to be the same,
-# so we should always set both flavors for all copts and linkopts.
 build --cxxopt=-std=c++20
-build --host_cxxopt=-std=c++20
+build --host_cxxopt=-std=c++20
+
+# https://github.com/bazelbuild/bazel/issues/1164
+build --action_env=CCACHE_DISABLE=1
+
+# Use eigen, fmt, spdlog from the host OS via pkg-config, rather than bzlmod.
+# It's okay to remove this line if you'd rather use bzlmod. For details, see:
+# https://github.com/RobotLocomotion/drake/blob/master/tools/flags/BUILD.bazel
+build --@drake//tools/flags:public_repo_default=pkgconfig
+
+# Try to import user-specific configuration local to workspace.
+try-import %workspace%/user.bazelrc

.gitignore

@@ -8,3 +8,4 @@ bazel.log
 core
 *~
 *.jlp
+MODULE.bazel.lock

MODULE.bazel

@@ -0,0 +1,117 @@
+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")

README.md

@@ -1,10 +1,20 @@
 # Panda Arm - Franka Emika
-This repository contains the application code used to communicate with the Franka Emika arm from Drake. 
+This repository contains the application code used to communicate with the Franka Emika arm from Drake.
+
+## Software Versions
+
+This driver supports both FR3 (newer) and FE3 (older) Franka robots:
+
+- **Drake**: v1.45.0
+- **libfranka v5** (~0.15.0): For FR3 robots with firmware v5.x
+- **libfranka v4** (0.9.0): For FE3 robots with firmware v4.x
+- **Pinocchio**: 2.6.21 (required for libfranka v5 dynamics)
+- **LCM**: Latest from main branch 
 
 ## Building the driver
-Before you begin, install the prerequisite:
+Before you begin, install the prerequisites:
 ```
-sudo apt install libgflags-dev
+sudo apt install libgflags-dev libpoco-dev
 ```
 
 To build, run `bazel build //...`.  This will output two versions of
@@ -29,8 +39,8 @@ To add a gripper, update the `models/add_franka_control.yaml` with the respectiv
 ## Links
 
 * [Website](https://www.franka.de/technology)
-* [Franka Control Interface (FCI) Documentation](https://frankaemika.github.io/docs/)
-* [`libfranka` API Docs](https://frankaemika.github.io/libfranka/)
+* [Franka Control Interface (FCI) Documentation](https://frankarobotics.github.io/docs/)
+* [`libfranka` API Docs](https://frankarobotics.github.io/libfranka/)
 * [Panda datasheet](https://s3-eu-central-1.amazonaws.com/franka-de-uploads/uploads/Datasheet-EN.pdf)
 
 ## Notes
@@ -39,11 +49,11 @@ To add a gripper, update the `models/add_franka_control.yaml` with the respectiv
     * The FCI docs have excellent instructions for getting your network
     interface on Ubuntu set up.
 * There are two very distinct versions of Pandas: the FE3 (older) and FR3 (newer)
-* There are three version to think about: firmware on the robot (we use
-`v4.x`, and `v5.x`) and `libfranka` driver software on the host PC
-(`0.8.0` for `v4.x` FE3, and `0.10.0` for `v5.x` FR3).
+* There are three versions to think about: firmware on the robot (we use
+`v4.x` and `v5.x`), `libfranka` driver software on the host PC
+(0.9.0 for `v4.x` FE3, and ~0.15.0 for `v5.x` FR3), and the robot model itself.
     * You should see suffixes like `_v4` and `_v5` for relevant
-    libraries and binaries.
+    libraries and binaries throughout this codebase.
     * If you use the wrong driver, you should get an error like:
 
             terminate called after throwing an instance of 'franka::IncompatibleVersionException'

environ.bzl

@@ -1,11 +1,8 @@
-# -*- mode: python -*-
-# vi: set ft=python :
-
 # Write out a repository that contains:
 # - An empty BUILD file, to define a package.
 # - An environ.bzl file with variable assignments for each ENV_NAMES item.
 def _impl(repository_ctx):
-    vars = repository_ctx.attr._vars
+    vars = repository_ctx.attr.vars
     bzl_content = []
     for key in vars:
         value = repository_ctx.os.environ.get(key, "")
@@ -21,6 +18,8 @@ def _impl(repository_ctx):
         executable = False,
     )
 
+_string_list = attr.string_list()
+
 def environ_repository(name = None, vars = []):
     """Provide specific environment variables for use in a WORKSPACE file.
     The `vars` are the environment variables to provide.
@@ -33,9 +32,12 @@ def environ_repository(name = None, vars = []):
     rule = repository_rule(
         implementation = _impl,
         attrs = {
-            "_vars": attr.string_list(default = vars),
+            "vars": _string_list,
         },
         local = True,
         environ = vars,
     )
-    rule(name = name)
+    rule(
+        name = name,
+        vars = vars,
+    )

franka-driver/BUILD.bazel

@@ -15,12 +15,12 @@ cc_binary(
         "@drake//multibody/plant",
         "@drake//multibody/parsing:parsing",
         "@gflags",
-        "@lcm",
+        "@lcm//lcm:lcm-static",
         "@libfranka_v5",
     ],
     data = [
         "//models:franka_control_models",
-        "@drake//manipulation/models/franka_description:models",
+        "@drake_models//:franka_description",
     ],
 )
 
@@ -35,12 +35,12 @@ cc_binary(
         "@drake//multibody/plant",
         "@drake//multibody/parsing:parsing",
         "@gflags",
-        "@lcm",
+        "@lcm//lcm:lcm-static",
         "@libfranka_v4",
     ],
     data = [
         "//models:franka_control_models",
-        "@drake//manipulation/models/franka_description:models",
+        "@drake_models//:franka_description",
     ],
 )
 
@@ -54,12 +54,12 @@ cc_binary(
         "@drake//lcmtypes:panda",
         "@drake//lcmtypes:schunk",
         "@gflags",
-        "@lcm",
+        "@lcm//lcm:lcm-static",
         "@libfranka_v5",
     ],
     data = [
         "//models:franka_control_models",
-        "@drake//manipulation/models/franka_description:models",
+        "@drake_models//:franka_description",
     ],
 )
 
@@ -73,12 +73,12 @@ cc_binary(
         "@drake//lcmtypes:panda",
         "@drake//lcmtypes:schunk",
         "@gflags",
-        "@lcm",
+        "@lcm//lcm:lcm-static",
         "@libfranka_v4",
     ],
     data = [
         "//models:franka_control_models",
-        "@drake//manipulation/models/franka_description:models",
+        "@drake_models//:franka_description",
     ],
 )
 add_lint_tests()

models/BUILD.bazel

@@ -4,7 +4,7 @@ filegroup(
         "add_franka_control.yaml",
     ],
     data = [
-        "@drake//manipulation/models/franka_description:models",
+        "@drake_models//:franka_description",
     ],
     visibility = ["//visibility:public"],
 )