CMake with static realsense and franka

MarcToussaint · Nov 29, 2023 · 36d9cc1 · 36d9cc1
1 parent 9918562
commit 36d9cc1
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Showing 4 changed files with 9 additions and 10 deletions.
diff --git a/README.md b/README.md
@@ -84,8 +84,8 @@ This assumes a standard Ubuntu 20.04 (or 18.04) machine.
       git clone --recursive https://github.com/MarcToussaint/robotic.git
       cd robotic
       cp _build_utils/CMakeLists-ubuntu.txt CMakeLists.txt
-      export PYTHONVERSION=`python3 -c "import sys; print(str(sys.version_info[0])+'.'+str(sys.version_info[1]))"`
-      cmake -DPYBIND11_PYTHON_VERSION=$PYTHONVERSION -DUSE_REALSENSE=ON -DUSE_LIBFRANKA=ON . -B build
+      export PY_VERSION=`python3 -c "import sys; print(str(sys.version_info[0])+'.'+str(sys.version_info[1]))"`
+      cmake -DPY_VERSION=$PY_VERSION -DUSE_REALSENSE=ON -DUSE_LIBFRANKA=ON . -B build
       make -C build _robotic install
 
   (Docstrings could be made with `make docstrings`, but this is not yet robust across distributions.)

diff --git a/_build_utils/CMakeLists-docker.txt b/_build_utils/CMakeLists-docker.txt
@@ -9,7 +9,7 @@ endif()
 
 ## variable default values
 set(CMAKE_CXX_STANDARD 14 CACHE STRING "C++ version selection")
-set(PYBIND11_PYTHON_VERSION 3.8 CACHE STRING "python version")
+set(PY_VERSION 3.8 CACHE STRING "python version")
 if(CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT)
   set(CMAKE_INSTALL_PREFIX "$ENV{HOME}/.local" CACHE PATH "..." FORCE)
 endif()
@@ -139,7 +139,7 @@ endif()
 ################################################################################
 
 if(USE_PYBIND)
-  set(PYTHON_EXECUTABLE "python${PYBIND11_PYTHON_VERSION}")
+  set(PYTHON_EXECUTABLE "python${PY_VERSION}")
   message(STATUS "[rai] using python executable " ${PYTHON_EXECUTABLE} )
   execute_process(
     COMMAND bash "-c" "${PYTHON_EXECUTABLE} -m pybind11 --cmakedir" 

diff --git a/_build_utils/CMakeLists-ubuntu.txt b/_build_utils/CMakeLists-ubuntu.txt
@@ -9,7 +9,7 @@ endif()
 
 ## variable default values
 set(CMAKE_CXX_STANDARD 14 CACHE STRING "C++ version selection")
-set(PYBIND11_PYTHON_VERSION 3.8 CACHE STRING "python version")
+set(PY_VERSION 3.8 CACHE STRING "python version")
 if(CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT)
   set(CMAKE_INSTALL_PREFIX "$ENV{HOME}/.local" CACHE PATH "..." FORCE)
 endif()
@@ -137,7 +137,7 @@ endif()
 
 if(USE_REALSENSE)
   add_definitions(-DRAI_REALSENSE)
-  target_link_libraries(rai realsense2)
+  target_link_libraries(rai realsense2 realsense-file rsutils fw usb-1.0)
   message(STATUS "[rai] using realsense libs")
 endif()
 
@@ -150,7 +150,7 @@ endif()
 ################################################################################
 
 if(USE_PYBIND)
-  set(PYTHON_EXECUTABLE "python${PYBIND11_PYTHON_VERSION}")
+  set(PYTHON_EXECUTABLE "python${PY_VERSION}")
   message(STATUS "[rai] using python executable " ${PYTHON_EXECUTABLE} )
   execute_process(
     COMMAND bash "-c" "${PYTHON_EXECUTABLE} -m pybind11 --cmakedir" 
@@ -197,8 +197,7 @@ target_link_libraries(bot rai)
 
 ################################################################################
 
-set(PYTHON_SITE "lib/python${PYBIND11_PYTHON_VERSION}/site-packages")
-
+set(PYTHON_SITE "lib/python${PY_VERSION}/site-packages")
 message(STATUS "[rai] installing python packages in " ${CMAKE_INSTALL_PREFIX}/${PYTHON_SITE}/robotic )
 
 install(

diff --git a/_build_utils/build-wheels.sh b/_build_utils/build-wheels.sh
@@ -26,7 +26,7 @@ export PYTHONPATH=.
 ### build each version
 for ver in 8 9 10 11 6 7; do
     echo -e "\n\n======== compiling (python version " $ver ") ========"
-    cmake -B build_wheel -DPYBIND11_PYTHON_VERSION=3.$ver .
+    cmake -B build_wheel -DPY_VERSION=3.$ver .
     make -C build_wheel _robotic
 
     echo -e "\n\n======== build wheel (python version " $ver ") ========"