libfranka: remove patch, adapt mc-panda

Author: arntanguy

overlay.nix

@@ -105,12 +105,12 @@
     mc-g1 = prev.callPackage ./pkgs/mc-rtc/robots/modules/mc-g1.nix { };
     mc-h1 = prev.callPackage ./pkgs/mc-rtc/robots/modules/mc-h1.nix { };
     mc-ur5e = prev.callPackage ./pkgs/mc-rtc/robots/modules/mc-ur5e.nix { };
-    mc-panda = callWithLocal ./pkgs/mc-rtc/robots/mc-panda { };
-    mc-panda-lirmm = callWithLocal ./pkgs/mc-rtc/robots/mc-panda/mc-panda-lirmm.nix { };
+    mc-panda = prev.callPackage ./pkgs/mc-rtc/robots/mc-panda { };
+    mc-panda-lirmm = prev.callPackage ./pkgs/mc-rtc/robots/mc-panda/mc-panda-lirmm.nix { };
 
     libfranka = prev.callPackage ./pkgs/mc-rtc/robots/mc-panda/libfranka.nix { };
     # mc-franka = prev.callPackage ./pkgs/mc-rtc/robots/mc-panda/mc-franka.nix {};
-    mc-franka = callWithLocal ./pkgs/mc-rtc/robots/mc-panda/mc-franka.nix { };
+    mc-franka = prev.callPackage ./pkgs/mc-rtc/robots/mc-panda/mc-franka.nix { };
     poco = prev.callPackage ./pkgs/mc-rtc/robots/mc-panda/libpoco.nix { };
     mesh-sampling = prev.callPackage ./pkgs/mesh-sampling { };
     # mesh-sampling = callWithLocal ./pkgs/mesh-sampling {};

pkgs/mc-rtc/robots/mc-panda/default.nix

@@ -4,46 +4,25 @@
   fetchgit,
   cmake,
   mc-rtc,
-  libfranka,
-  franka-description,
-  xacro,
-  useLocal ? false,
-  localWorkspace ? null,
-  with-ros ? false,
+  libfranka, # use jrl-umi3218 fork
 }:
 
 stdenv.mkDerivation {
   pname = "mc-panda";
   version = "1.0.0";
 
-  src =
-    if useLocal then
-      builtins.trace "Using local workspace for mc-panda: ${localWorkspace}/mc_panda" (
-        builtins.path {
-          path = "${localWorkspace}/mc_panda";
-          name = "mc-panda-src";
-        }
-      )
-    else
-      # TODO: release mc-panda
-      fetchgit {
-        url = "https://github.com/arntanguy/mc_panda";
-        # topic/nix
-        rev = "34933cdd9802493627f4a0470166b87580be43ae";
-        sha256 = "sha256-bj/wGDqYwmzMqJ5wziX1x/+gXamYsCXrhB2/anN0Gmk=";
-      };
+  src = fetchgit {
+    url = "https://github.com/arntanguy/mc_panda";
+    # topic/nix
+    rev = "34933cdd9802493627f4a0470166b87580be43ae";
+    sha256 = "sha256-bj/wGDqYwmzMqJ5wziX1x/+gXamYsCXrhB2/anN0Gmk=";
+  };
 
   nativeBuildInputs = [ cmake ];
-  propagatedBuildInputs = builtins.trace "panda with-ros: ${toString with-ros}" (
-    [
-      mc-rtc
-      libfranka
-    ]
-    ++ lib.optional (with-ros) [
-      franka-description
-      xacro
-    ]
-  );
+  propagatedBuildInputs = [
+    mc-rtc
+    libfranka
+  ];
 
   cmakeFlags = [
     "-DBUILD_TESTING=OFF"

pkgs/mc-rtc/robots/mc-panda/libfranka-cmake-version.patch

@@ -38,8 +38,6 @@ stdenv.mkDerivation {
   # Optional: enable documentation if you want
   # nativeBuildInputs = nativeBuildInputs ++ [ doxygen graphviz ];
 
-  patches = [ ./libfranka-cmake-version.patch ];
-
   cmakeFlags = [
     "-DCMAKE_CXX_STANDARD=14"
     "-DBUILD_EXAMPLES=ON"