feat: New modules for libfranka 0.15 and the ArmarX bridge

data/modules/armarx_integration/robots/franka_emika_fr3.json

+{
+
+  "general": {
+    "url": "https://git.h2t.iar.kit.edu/sw/armarx-integration/robots/franka-emika-fr3",
+    "authors": [
+      "Christian Dreher <c.dreher@kit.edu>"
+    ]
+  },
+
+  "required_modules": {
+    "armarx_integration/robots/franka_emika_fr3/models": {},
+    "armarx_integration/robots/franka_emika_fr3/rt": {}
+  }
+
+}

data/modules/armarx_integration/robots/franka_emika_fr3/models.json

+{
+
+  "general": {
+    "url": "https://git.h2t.iar.kit.edu/sw/armarx-integration/robots/franka-emika-fr3/models",
+    "authors": [
+      "Christian Dreher <c.dreher@kit.edu>"
+    ]
+  },
+
+  "update": {
+    "git": {
+      "h2t_gitlab_slug": "sw/armarx-integration/robots/franka-emika-fr3/models"
+    }
+  },
+
+  "prepare": {
+    "cmake": {
+      "project_name": "franka_emika_fr3_models",
+      "definitions": {
+        "CMAKE_C_COMPILER": "$ARMARX_C_COMPILER",
+        "CMAKE_CXX_COMPILER": "$ARMARX_CXX_COMPILER"
+      }
+    }
+  },
+
+  "build": "cmake",
+
+  "install": {
+    "env": {
+      "franka_emika_fr3_models_DIR": "$MODULE_PATH/build"
+    }
+  },
+
+  "required_modules": {
+    "armarx/meta/compiler": {},
+    "armarx/ArmarXCore": {}
+  }
+
+}

data/modules/armarx_integration/robots/franka_emika_fr3/rt.json

+{
+
+  "general": {
+    "url": "https://git.h2t.iar.kit.edu/sw/armarx-integration/robots/franka-emika-fr3/rt",
+    "authors": [
+      "Christian Dreher <c.dreher@kit.edu>"
+    ]
+  },
+
+  "update": {
+    "git": {
+      "h2t_gitlab_slug": "sw/armarx-integration/robots/franka-emika-fr3/rt"
+    }
+  },
+
+  "prepare": {
+    "cmake": {
+      "definitions": {
+        "CMAKE_C_COMPILER": "$ARMARX_C_COMPILER",
+        "CMAKE_CXX_COMPILER": "$ARMARX_CXX_COMPILER"
+      }
+    }
+  },
+
+  "build": "cmake",
+
+  "install": {
+    "env": {
+      "franka_emika_fr3_rt_DIR": "$MODULE_PATH/build"
+    }
+  },
+
+  "required_modules": {
+    "apt/libfmt-dev": {},
+
+    "deps/libfranka/0.15": {},
+
+    "armarx/meta/compiler": {},
+    "armarx/ArmarXGui": {},
+    "armarx/RobotAPI": {},
+
+    "armarx_integration/robots/franka_emika_fr3/models": {}
+  }
+
+}

data/modules/deps/libfranka/0.15.json

+{
+
+  "general": {
+    "url": "https://github.com/frankaemika/libfranka",
+    "authors": [
+      "Christian Dreher <c.dreher@kit.edu>"
+    ]
+  },
+
+  "update": {
+    "git": {
+      "github_slug": "frankaemika/libfranka",
+      "default_checkout_ref": "0.15.0",
+      "submodules": true
+    }
+  },
+
+  "prepare": {
+    "cmake": {
+      "project_name": "Franka",
+      "definitions": {
+        "CMAKE_C_COMPILER": "$AXII_DEFAULT_C_COMPILER",
+        "CMAKE_CXX_COMPILER": "$AXII_DEFAULT_CXX_COMPILER",
+        "BUILD_COVERAGE": "OFF",
+        "BUILD_DOCUMENTATION": "OFF",
+        "BUILD_EXAMPLES": "OFF",
+        "BUILD_TESTS": "OFF"
+      },
+      "disable_all_warnings": true
+    }
+  },
+
+  "build": "cmake",
+
+  "install": {
+    "#cmake": {
+      "dest_dir": "install"
+    },
+    "env": {
+      "Franka_DIR": "$MODULE_PATH/build"
+    }
+  },
+
+  "required_modules": {
+    "apt/libpoco-dev": {},
+    "deps/pinocchio/3.4": {}
+  }
+
+}

data/modules/deps/pinocchio/3.4.json

+{
+  "general": {
+    "url": "https://github.com/stack-of-tasks/pinocchio",
+    "authors": [
+      "Christian Dreher <c.dreher@kit.edu>"
+    ]
+  },
+
+  "update": {
+    "git": {
+      "github_slug": "stack-of-tasks/pinocchio",
+      "default_checkout_ref": "v3.4.0"
+    }
+  },
+
+  "prepare": {
+    "cmake": {
+      "project_name": "pinocchio",
+      "disable_all_warnings": true,
+      "definitions": {
+        "CMAKE_BUILD_TYPE": "Release",
+        "CMAKE_INSTALL_PREFIX": "install",
+        "BUILDING_ROS2_PACKAGE": "OFF",
+        "BUILD_PYTHON_INTERFACE": "OFF",
+        "BUILD_TESTING": "OFF",
+        "BUILD_WITH_LIBPYTHON": "OFF"
+      }
+    }
+  },
+
+  "build": "cmake",
+
+  "install": {
+    "cmake": {},
+    "env": {
+      "pinocchio_DIR": "$MODULE_PATH/build/install/lib/cmake/pinocchio"
+    }
+  }
+}