refactor: Merged some duplicated parts, docu and build scripts

Author: AndreasKuhner

.ci/Dockerfile.focal

@@ -26,28 +26,34 @@ RUN apt-get update \
     && apt-get install -y \
     bash-completion \
     build-essential \
+    cmake \
     clang-6.0 \
     clang-format-6.0 \
     clang-tidy-6.0 \
-    cmake \
+    curl \
     doxygen \
+    dpkg \
+    git \
     graphviz \
     lcov \
     libeigen3-dev \
     libpoco-dev \
-    rename \
-    valgrind \
     lsb-release \
-    dpkg \
-    git \
     libeigen3-dev \
     libpoco-dev \
     libfmt-dev \
-    python3-dev \
-    python3-pip \
+    liburdfdom-headers-dev \
+    libconsole-bridge-dev \
     libtinyxml2-dev \
     lsb-release \
-    curl \
+    python3-dev \
+    python3-pip \
+    python3-venv \
+    python3-distutils \
+    python3-numpy \
+    pybind11-dev \
+    rename \
+    valgrind \
     wget \
     && apt-get clean -y \
     && rm -rf /var/lib/apt/lists/* \
@@ -118,5 +124,15 @@ RUN git clone --recursive --branch v3.11.1 https://github.com/nlohmann/json.git
     && make install \
     && cd ../.. \
     && rm -rf json
+# Install Python wheel building tools
+RUN python3 -m pip install --upgrade pip setuptools wheel && \
+    python3 -m pip install \
+    auditwheel \
+    build \
+    cibuildwheel \
+    twine \
+    patchelf \
+    flake8 \
+    pybind11
 
 USER $USERNAME

.ci/checkgithistory.sh

@@ -32,4 +32,4 @@ if [ "$local_commit_hash" != "$public_commit_hash" ]; then
     exit 1
 else
     echo "Local and public commit hashes do match."
-fi
+fi

.devcontainer/Dockerfile

@@ -26,30 +26,34 @@ RUN apt-get update \
     && apt-get install -y \
     bash-completion \
     build-essential \
+    cmake \
     clang-6.0 \
     clang-format-6.0 \
     clang-tidy-6.0 \
-    cmake \
+    curl \
     doxygen \
+    dpkg \
+    git \
     graphviz \
     lcov \
     libeigen3-dev \
     libpoco-dev \
-    rename \
-    valgrind \
     lsb-release \
-    dpkg \
-    git \
     libeigen3-dev \
     libpoco-dev \
     libfmt-dev \
-    python3-dev \
-    python3-pip \
     liburdfdom-headers-dev \
     libconsole-bridge-dev \
     libtinyxml2-dev \
     lsb-release \
-    curl \
+    python3-dev \
+    python3-pip \
+    python3-venv \
+    python3-distutils \
+    python3-numpy \
+    pybind11-dev \
+    rename \
+    valgrind \
     wget \
     && apt-get clean -y \
     && rm -rf /var/lib/apt/lists/* \
@@ -66,11 +70,22 @@ RUN mkdir -p /etc/apt/keyrings && \
     apt-get clean -y && \
     rm -rf /var/lib/apt/lists/*
 
+# Install Python wheel building tools
+RUN python3 -m pip install --upgrade pip setuptools wheel && \
+    python3 -m pip install \
+    auditwheel \
+    build \
+    cibuildwheel \
+    twine \
+    patchelf \
+    flake8 \
+    pybind11
+
 # Set environment variables
 ENV PATH=/opt/openrobots/bin:$PATH \
     PKG_CONFIG_PATH=/opt/openrobots/lib/pkgconfig:$PKG_CONFIG_PATH \
     LD_LIBRARY_PATH=/opt/openrobots/lib:$LD_LIBRARY_PATH \
-    PYTHONPATH=/opt/openrobots/lib/python3.10/site-packages:$PYTHONPATH \
+    PYTHONPATH=~/.local/lib/python3.8/site-packages:/opt/openrobots/lib/python3.8/site-packages:$PYTHONPATH \
     CMAKE_PREFIX_PATH=/opt/openrobots/lib/cmake:$CMAKE_PREFIX_PATH
 
 USER $USERNAME

.devcontainer/docker-compose.yml

@@ -21,4 +21,3 @@ services:
       rtprio: 99
       rttime: -1
       memlock: 8428281856
-      

.gitignore

@@ -7,3 +7,16 @@ install*/
 .cache
 .env
 *.egg-info
+__pycache__/
+*.so
+*.dylib
+*.a
+*.lib
+*.exp
+*.def
+*.manifest
+*.res
+*.egg-info
+*.whl
+.mypy_cache/
+version_info.properties

pylibfranka/.pre-commit-config.yaml .pre-commit-config.yamlpylibfranka/.pre-commit-config.yaml renamed to .pre-commit-config.yaml

@@ -36,13 +36,6 @@ repos:
         types_or: [c++, c, cuda]
         args: ["-style=file"]
 
-  # C++ linting with cpplint
-  - repo: https://github.com/cpplint/cpplint
-    rev: 1.6.1
-    hooks:
-      - id: cpplint
-        args: ["--filter=-build/include_subdir,-runtime/references,-whitespace/line_length,-build/include_order,-build/include_what_you_use", "--linelength=100", "--extensions=cpp,h,hpp"]
-
   # General hooks
   - repo: https://github.com/pre-commit/pre-commit-hooks
     rev: v4.4.0

CHANGELOG.md

@@ -1,5 +1,9 @@
 # CHANGELOG
 
+## 0.16.0 - 2025-09-15
+
+- Feat: Added pylibfranka - a python binding for libfranka
+
 ## 0.15.3 - 2025-07-31
 
 * Fix outdated Emika links

CMakeLists.txt

@@ -11,6 +11,7 @@ project(libfranka
 
 option(BUILD_DOCUMENTATION "Build documentation" OFF)
 option(SKIP_CXX_BUILD "Skips the c++ build" OFF)
+option(GENERATE_PYLIBFRANKA "Generate the python bindings for libfranka" OFF)
 if(BUILD_DOCUMENTATION)
   add_subdirectory(doc)
 
@@ -154,7 +155,9 @@ target_link_libraries(franka PUBLIC
 )
 
 ## Compile pylibfranka
-add_subdirectory(pylibfranka)
+if (GENERATE_PYLIBFRANKA)
+  add_subdirectory(pylibfranka)
+endif()
 
 ## Installation
 include(GNUInstallDirs)

Jenkinsfile

@@ -62,7 +62,8 @@ pipeline {
                   dir("build-debug.${env.DISTRO}") {
                     sh '''
                       cmake -DCMAKE_BUILD_TYPE=Debug -DSTRICT=ON -DBUILD_COVERAGE=OFF \
-                            -DBUILD_DOCUMENTATION=OFF -DBUILD_EXAMPLES=ON -DBUILD_TESTS=ON ..
+                            -DBUILD_DOCUMENTATION=OFF -DBUILD_EXAMPLES=ON -DBUILD_TESTS=ON \
+                            -DGENERATE_PYLIBFRANKA=ON ..
                       make -j$(nproc)
                     '''
                   }
@@ -73,7 +74,8 @@ pipeline {
                   dir("build-release.${env.DISTRO}") {
                     sh '''
                       cmake -DCMAKE_BUILD_TYPE=Release -DSTRICT=ON -DBUILD_COVERAGE=OFF \
-                            -DBUILD_DOCUMENTATION=ON -DBUILD_EXAMPLES=ON -DBUILD_TESTS=ON ..
+                            -DBUILD_DOCUMENTATION=ON -DBUILD_EXAMPLES=ON -DBUILD_TESTS=ON \
+                            -DGENERATE_PYLIBFRANKA=ON ..
                       make -j$(nproc)
                     '''
                   }

README.md

@@ -121,6 +121,29 @@ To run a sample program, navigate to the build folder and execute the following
 ./examples/communication_test <robot-ip>
 ```
 
+### 5. Pylibfranka
+
+Pylibfranka is a Python binding for libfranka, allowing you to control Franka robots using Python. It is included in the libfranka repository and can be built alongside libfranka. For more details, see `pylibfranka` and its [README](pylibfranka/README.md).
+
+### 6. Development Information
+
+If you actively contribute to this repository, you should install and set up pre-commit hooks:
+
+```bash
+pip install pre-commit
+pre-commit install
+```
+
+This will install pre-commit and set up the git hooks to automatically run checks before each commit. The hooks will help maintain code quality by running various checks like code formatting, linting, and other validations.
+
+To manually run the pre-commit checks on all files:
+
+```bash
+pre-commit run --all-files
+```
+
+This will build the C++ extension and install the Python package.
+
 ## License
 
 `libfranka` is licensed under the [Apache 2.0 license][apache-2.0].