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buildLibfranka.md

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Build libfranka using vcpkg and Visual Studio

  1. Go to https://frankaemika.github.io/docs/installation_windows.html for the official installation guide

  2. Install vcpkg from https://vcpkg.io/en/getting-started.html and be sure to have the english version of Visual Studio

  3. Open cmd as admin:

    cd path\to\vcpck 
vcpck install eigen3
vcpck install poco
vcpkg integrate install

  4. git clone --recursive https://github.com/frankaemika/libfranka
    Be sure the libfranka version in compatible with the robot system version (which can be checked from the Desk). See this for reference. In case you can clone a specific version X.Y.Z as

    git clone --branch X.Y.Z --recursive https://github.com/frankaemika/libfranka

  5. Open CMakelist.txt and set BUILD_TEST=OFF

  6. Be sure you are in path\to\libfranka\

    mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_TOOLCHAIN_FILE=C:\dev\vcpkg\scripts\buildsystems\vcpkg.cmake -G "Visual Studio 17 2022" ..
cmake --build . --config Release

    Note: You can use a different compiler but everything has been tested with Visual Studio 17 2022
    Note: You can specify manually where to find Poco and Eigen3 as:

    cmake -DCMAKE_BUILD_TYPE=Release -DPoco_DIR=path\to\vcpkg\installed\x64-windows\share\poco -DEigen3_DIR=path\to\vcpkg\installed\x64-windows\share\eigen3 -G "Visual Studio 17 2022" ..

  7. You may need to install zlib and pcre2 or unofficial-pcre.

    If this is the case, install them with

    vcpkg install zlib
vcpkg install pcre2
vcpkg install unofficial-pcre
vcpkg integrate install

    and append the following options to the cmake command, or use -DCMAKE_TOOLCHAIN_FILE=C:\dev\vcpkg\scripts\buildsystems\vcpkg.cmake

    cmake -DCMAKE_BUILD_TYPE=Release -DPoco_DIR=C:\dev\vcpkg\installed\x64-windows\share\poco -DEigen3_DIR=C:\dev\vcpkg\installed\x64-windows\share\eigen3 -DZLIB_INCLUDE_DIR=C:\dev\vcpkg\installed\x64-windows\include -DZLIB_LIBRARY=C:\dev\vcpkg\installed\x64-windows\lib\zlib.lib -DPCRE2_LIBRARY_RELEASE=C:\dev\vcpkg\installed\x64-windows\lib\pcre2-8.lib -DPCRE2_INCLUDE_DIR=C:\dev\vcpkg\installed\x64-windows\include -Dunofficial-pcre_DIR=C:\dev\vcpkg\installed\x64-windows\share\unofficial-pcre -G "Visual Studio 17 2022" ..