Fix libfranka RPATH

pkrack · pkrack · commit 6770bdb38631 · 2024-12-10T11:22:47.000+01:00
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -105,7 +105,7 @@ target_include_directories(mujoco_ui_lib INTERFACE ${MuJoCo_UI_DIR})
 #install(TARGETS pinocchio_default DESTINATION rcsss COMPONENT python_package)
 
 # Set the rpath to include the path where the libraries are installed
-set(CMAKE_INSTALL_RPATH "$ORIGIN")
+# set(CMAKE_INSTALL_RPATH "$ORIGIN")
 
 FetchContent_MakeAvailable(libfranka rl pybind11)
 
diff --git a/src/pybind/CMakeLists.txt b/src/pybind/CMakeLists.txt
@@ -6,4 +6,8 @@ set_target_properties(_core PROPERTIES
     INSTALL_RPATH "$ORIGIN;$ORIGIN/../mujoco"
     INTERPROCEDURAL_OPTIMIZATION TRUE
 )
+set_target_properties(franka PROPERTIES
+    INSTALL_RPATH "$ORIGIN/../cmeel.prefix/lib"
+    INTERPROCEDURAL_OPTIMIZATION TRUE
+)
 install(TARGETS _core franka DESTINATION rcsss COMPONENT python_package)

Original file line number	Diff line number	Diff line change
`@@ -6,4 +6,8 @@ set_target_properties(_core PROPERTIES`
`6`	`6`	`INSTALL_RPATH "$ORIGIN;$ORIGIN/../mujoco"`
`7`	`7`	`INTERPROCEDURAL_OPTIMIZATION TRUE`
`8`	`8`	`)`
	`9`	`+set_target_properties(franka PROPERTIES`
	`10`	`+ INSTALL_RPATH "$ORIGIN/../cmeel.prefix/lib"`
	`11`	`+ INTERPROCEDURAL_OPTIMIZATION TRUE`
	`12`	`+)`
`9`	`13`	`install(TARGETS _core franka DESTINATION rcsss COMPONENT python_package)`