build: auditwheel repair and readded libpoco

Author: juelg

extensions/rcs_fr3/CMakeLists.txt

@@ -88,7 +88,23 @@ FetchContent_Declare(
     OVERRIDE_FIND_PACKAGE
 )
 
-FetchContent_MakeAvailable(pybind11 Eigen3 tinyxml2 console_bridge)
+# --- POCO C++ Libraries ---
+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
+    OVERRIDE_FIND_PACKAGE
+)
+
+FetchContent_MakeAvailable(pybind11 Eigen3 tinyxml2 console_bridge Poco)
 if(NOT TARGET Eigen3::Eigen3)
     add_library(Eigen3::Eigen3 ALIAS eigen)
 endif()

extensions/rcs_fr3/pyproject.toml

@@ -34,6 +34,7 @@ install.components = ["python_package"]
 
 [tool.cibuildwheel]
 skip = ["cp314*", "*-musllinux*"]
+repair-wheel-command = "auditwheel repair -w {dest_dir} {wheel} --exclude librcs.so --exclude libpinocchio_default.so.3.7.0 --exclude libpinocchio_parsers.so.3.7.0"
 
 [tool.black]
 line-length = 120

extensions/rcs_panda/CMakeLists.txt

@@ -75,7 +75,23 @@ FetchContent_Declare(
     OVERRIDE_FIND_PACKAGE
 )
 
-FetchContent_MakeAvailable(pybind11 Eigen3 console_bridge)
+# --- POCO C++ Libraries ---
+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
+    OVERRIDE_FIND_PACKAGE
+)
+
+FetchContent_MakeAvailable(pybind11 Eigen3 console_bridge Poco)
 if(NOT TARGET Eigen3::Eigen3)
     add_library(Eigen3::Eigen3 ALIAS eigen)
 endif()

extensions/rcs_panda/pyproject.toml

@@ -33,6 +33,7 @@ install.components = ["python_package"]
 
 [tool.cibuildwheel]
 skip = ["cp314*", "*-musllinux*"]
+repair-wheel-command = "auditwheel repair -w {dest_dir} {wheel} --exclude librcs.so --exclude libpinocchio_default.so.3.7.0 --exclude libpinocchio_parsers.so.3.7.0"
 
 [tool.black]
 line-length = 120

extensions/rcs_robotics_library/pyproject.toml

@@ -34,6 +34,10 @@ build-dir = "build"
 wheel.packages = ["src/rcs_robotics_library"]
 install.components = ["python_package"]
 
+[tool.cibuildwheel]
+skip = ["cp314*", "*-musllinux*"]
+repair-wheel-command = "auditwheel repair -w {dest_dir} {wheel} --exclude librcs.so --exclude libpinocchio_default.so.3.7.0 --exclude libpinocchio_parsers.so.3.7.0"
+
 [tool.black]
 line-length = 120
 target-version = ["py310"]

extensions/rcs_so101/pyproject.toml

@@ -30,6 +30,10 @@ build-dir = "build"
 wheel.packages = ["src/rcs_so101"]
 install.components = ["python_package"]
 
+[tool.cibuildwheel]
+skip = ["cp314*", "*-musllinux*"]
+repair-wheel-command = "auditwheel repair -w {dest_dir} {wheel} --exclude librcs.so --exclude libpinocchio_default.so.3.7.0 --exclude libpinocchio_parsers.so.3.7.0"
+
 [tool.black]
 line-length = 120
 target-version = ["py310"]