Installation on Windows
Windows support is very experimental and only intended for experienced users. Since Windows is not real-time capable, communication errors are very likely. Further, these instructions are may not up-to-date and adjustments might be necessary.
libfranka >= 0.6.0, experimental Windows support is provided.
This chapter describes how to install
libfranka on Windows.
franka_ros is not supported on Windows.
Windows support has only been tested with Windows 10 and Visual Studio 2017.
Building from source
libfranka, install the following dependencies:
Both can be easily installed with vcpkg via cmd prompt:
vcpkg install eigen3
vcpkg install poco
Download the source code by cloning
libfranka from GitHub:
git clone --recursive https://github.com/frankaemika/libfranka
By default, this will check out the newest release of
libfranka. If you want to build
a particular version of
libfranka instead, check out the corresponding Git tag:
git checkout <version>
git submodule update
libfranka >= 0.6.0 has Windows support!
libfranka with Visual Studio open it as a CMake Project.
Choose File > Open > CMake > C:PathTolibfrankaCMakeLists.txt.
CMakeSettings.json, which contains the CMake project settings.
Select CMake > Cache > Generate > CMakeSettings.json. The file will be placed in
The next step is to solve the build dependencies.
Make sure the compiler is able to find
the required dependencies. This can be done either by copying all needed .dll libries into
the chosen build root determined by
CMakeSettings.json or using cmakeCommandArgs.
Open CMake > Change CMake settings > libfranka and add
"cmakeCommandArgs": "-DPoco_DIR=C:\Path\To\Poco-Install\lib\cmake\Poco -DEigen3_DIR=C:\Path\To\Eigen-Install\lib\cmake\eigen3"
Choose CMake > Build to build
libfranka into the build directory,
Alternatively you can build libfranka using the Developer Command Prompt for VS:
cmake -DPoco_DIR=/Path/To/Poco/CMake/Config -DEigen3_DIR=/Path/To/Eigen/CMake/Config -G Ninja ..