test(franka): libxml, poco and bridge console in cmake

Author: juelg

debian_deps.txt

@@ -1,6 +1,3 @@
 build-essential
 gcc
-libpoco-dev
-libglfw3-dev
-libconsole-bridge-dev
-libtinyxml2-dev
+libglfw3-dev

extensions/rcs_fr3/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.19)
+cmake_minimum_required(VERSION 3.24)
 
 project(
     rcs_fr3
@@ -67,8 +67,42 @@ FetchContent_Declare(Eigen3
     GIT_PROGRESS TRUE
     EXCLUDE_FROM_ALL
 )
+# --- tinyxml2 ---
+FetchContent_Declare(
+    tinyxml2
+    GIT_REPOSITORY https://github.com/leethomason/tinyxml2.git
+    GIT_TAG        10.0.0 # Or the specific version you need
+    GIT_PROGRESS   TRUE
+    EXCLUDE_FROM_ALL
+)
+
+# --- console_bridge ---
+FetchContent_Declare(
+    console_bridge
+    GIT_REPOSITORY https://github.com/ros/console_bridge.git
+    GIT_TAG        1.0.2 # Standard version used in ROS 2 Humble
+    GIT_PROGRESS   TRUE
+    EXCLUDE_FROM_ALL
+)
+
+# --- POCO C++ Libraries ---
+# POCO is a massive framework. Building the whole thing takes a long time.
+# We disable tests, examples, and heavy components you likely don't need for a robot control stack.
+set(ENABLE_TESTS OFF CACHE BOOL "Disable POCO tests" FORCE)
+set(ENABLE_DATA_MYSQL OFF CACHE BOOL "Disable POCO MySQL" FORCE)
+set(ENABLE_DATA_ODBC OFF CACHE BOOL "Disable POCO ODBC" FORCE)
+set(ENABLE_PAGECOMPILER OFF CACHE BOOL "Disable POCO PageCompiler" FORCE)
+set(ENABLE_PAGECOMPILER_FILE2PAGE OFF CACHE BOOL "" FORCE)
+
+FetchContent_Declare(
+    Poco
+    GIT_REPOSITORY https://github.com/pocoproject/poco.git
+    GIT_TAG        poco-1.13.3-release 
+    GIT_PROGRESS   TRUE
+    EXCLUDE_FROM_ALL
+)
 
-FetchContent_MakeAvailable(Eigen3)
-FetchContent_MakeAvailable(libfranka pybind11)
+FetchContent_MakeAvailable(pybind11 Eigen3 tinyxml2 console_bridge Poco)
+FetchContent_MakeAvailable(libfranka)
 
 add_subdirectory(src)

extensions/rcs_panda/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.24)
 
 project(
     rcs_panda
@@ -35,10 +35,6 @@ set(CMAKE_POSITION_INDEPENDENT_CODE ON)
 # turn off libfranka tests
 set(BUILD_TESTS OFF)
 set(BUILD_EXAMPLES OFF)
-set(RL_BUILD_DEMOS OFF)
-set(RL_BUILD_RL_SG OFF)
-set(RL_BUILD_TESTS OFF)
-set(RL_BUILD_EXTRAS OFF)
 set(BUILD_PYTHON_INTERFACE OFF)
 set(BUILD_DOCUMENTATION OFF)
 
@@ -67,8 +63,43 @@ FetchContent_Declare(Eigen3
     GIT_PROGRESS TRUE
     EXCLUDE_FROM_ALL
 )
+# --- tinyxml2 ---
+FetchContent_Declare(
+    tinyxml2
+    GIT_REPOSITORY https://github.com/leethomason/tinyxml2.git
+    GIT_TAG        10.0.0 # Or the specific version you need
+    GIT_PROGRESS   TRUE
+    EXCLUDE_FROM_ALL
+)
+
+# --- console_bridge ---
+FetchContent_Declare(
+    console_bridge
+    GIT_REPOSITORY https://github.com/ros/console_bridge.git
+    GIT_TAG        1.0.2 # Standard version used in ROS 2 Humble
+    GIT_PROGRESS   TRUE
+    EXCLUDE_FROM_ALL
+)
+
+# --- POCO C++ Libraries ---
+# POCO is a massive framework. Building the whole thing takes a long time.
+# We disable tests, examples, and heavy components you likely don't need for a robot control stack.
+set(ENABLE_TESTS OFF CACHE BOOL "Disable POCO tests" FORCE)
+set(ENABLE_DATA_MYSQL OFF CACHE BOOL "Disable POCO MySQL" FORCE)
+set(ENABLE_DATA_ODBC OFF CACHE BOOL "Disable POCO ODBC" FORCE)
+set(ENABLE_PAGECOMPILER OFF CACHE BOOL "Disable POCO PageCompiler" FORCE)
+set(ENABLE_PAGECOMPILER_FILE2PAGE OFF CACHE BOOL "" FORCE)
+
+FetchContent_Declare(
+    Poco
+    GIT_REPOSITORY https://github.com/pocoproject/poco.git
+    GIT_TAG        poco-1.13.3-release 
+    GIT_PROGRESS   TRUE
+    EXCLUDE_FROM_ALL
+)
 
-FetchContent_MakeAvailable(libfranka pybind11 Eigen3)
+FetchContent_MakeAvailable(pybind11 Eigen3 tinyxml2 console_bridge Poco)
+FetchContent_MakeAvailable(libfranka)
 set_target_properties(franka PROPERTIES CXX_STANDARD 17)
 
 add_subdirectory(src_fr3)