Installation

This guide will help you install libfrankapy on your system.

System Requirements

• Operating System: Linux (Ubuntu 20.04+ recommended)
• Python: 3.8 or higher
• C++ Compiler: GCC 9+ with C++17 support
• CMake: 3.16 or higher
• Real-time Kernel: PREEMPT_RT kernel (recommended for real-time control)

Dependencies

System Dependencies

Install the required system packages:

sudo apt-get update
sudo apt-get install -y \
  build-essential \
  cmake \
  git \
  libpoco-dev \
  libeigen3-dev \
  libfmt-dev \
  pkg-config

Libfranka Installation

libfrankapy requires libfranka to be installed:

git clone --recurse-submodules https://github.com/frankarobotics/libfranka.git
cd libfranka
git checkout 0.15.0
mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=Release \
      -DCMAKE_INSTALL_PREFIX=/opt/libfranka \
      -DBUILD_TESTS=OFF \
      -DBUILD_EXAMPLES=OFF ..
make -j$(nproc)
sudo make install

Python Dependencies

Install Python dependencies:

pip install numpy>=1.19.0 pybind11>=2.10.0

Installation Methods

From PyPI (Recommended)

pip install libfrankapy

From Source

git clone https://github.com/han-xudong/libfrankapy.git
cd libfrankapy
pip install -e .

Development Installation

For development purposes:

git clone https://github.com/han-xudong/libfrankapy.git
cd libfrankapy
pip install -e ".[dev]"

Verification

Verify your installation:

import libfrankapy as fp
print(fp.__version__)

Troubleshooting

Common Issues

Missing libfranka

If you get errors about missing libfranka, ensure it's installed in the correct location and CMAKE_PREFIX_PATH is set:

export CMAKE_PREFIX_PATH="/opt/libfranka:$CMAKE_PREFIX_PATH"

Permission Errors

For real-time control, you may need to set up proper permissions:

sudo usermod -a -G realtime $USER

Build Errors

Ensure all dependencies are installed and your compiler supports C++17.