How can I use libfranka in my own CMake-based project?

Add the following to your CMakeLists.txt:

find_package(Franka REQUIRED)

# ...

target_link_libraries(<target-name> Franka::Franka)

To build against a custom libfranka location, compile your project with:

# Build against libfranka build directory
cmake -DFranka_DIR=/path/to/libfranka/build

# Build against custom libfranka installation
cmake -DFranka_DIR=/path/to/usr/lib/cmake/Franka


Don’t forget to build your project in release mode (cmake -DCMAKE_BUILD_TYPE=Release)!