diff --git a/kortex_api/CMakeLists.txt b/kortex_api/CMakeLists.txt
index ddf42b71..0f76bb5f 100644
--- a/kortex_api/CMakeLists.txt
+++ b/kortex_api/CMakeLists.txt
@@ -1,37 +1,26 @@
 cmake_minimum_required(VERSION 3.14)
-include(FetchContent)
-#include(ExternalProject)
-FetchContent_Declare(
-  kinova_binary_api
-  URL https://artifactory.kinovaapps.com:443/artifactory/generic-public/kortex/API/2.5.0/linux_x86-64_x86_gcc.zip
-  URL_HASH MD5=64bd86e7ab8bda90ef1fc7d6a356e080
-)
-
-FetchContent_MakeAvailable(kinova_binary_api)
-
 project(kortex_api)
 
-#Future:
-# convert API_URL components from CMAKE_SYSTEM variables.
-# The kinova artifactory server artifacts have slightly different expectations and they need some transformations
-# Could build something like: (URL_OS)_(URL_PROCESSOR)_(?)_(URL_COMPILER).zip
-# string(REPLACE "_" "-" URL_PROCESSOR ${CMAKE_SYSTEM_PROCESSOR}) # x86_64 -> x86-64
-# string(TOLOWER ${CMAKE_SYSTEM_NAME} URL_OS) # Linux -> linux
+include(FetchContent)
+
+# Select correct Kinova Binary API zip based on platform
 
-#Current: only support Linux x86_64
 if(CMAKE_SYSTEM_NAME STREQUAL "Linux" AND CMAKE_SYSTEM_PROCESSOR STREQUAL "x86_64")
-  set(API_URL https://artifactory.kinovaapps.com:443/artifactory/generic-public/kortex/API/2.5.0/linux_x86-64_x86_gcc.zip)
+  set(API_URL "https://artifactory.kinovaapps.com:443/artifactory/generic-public/kortex/API/2.7.0/linux_x86-64_x86_gcc.zip")
+elseif(CMAKE_SYSTEM_NAME STREQUAL "Linux" AND CMAKE_SYSTEM_PROCESSOR STREQUAL "aarch64")
+  set(API_URL "https://artifactory.kinovaapps.com:443/artifactory/generic-local-public/kortex/API/2.7.0/linux_aarch64_gcc_7.4.zip")
 else()
   set(API_URL "")
-  message(FATAL_ERROR "Unsupported System: currently support is for Linux x68_64. Detected ${CMAKE_SYSTEM_NAME} and ${CMAKE_SYSTEM_PROCESSOR}")
+  message(FATAL_ERROR "Unsupported System: Currently support is for Linux x68_64 or aarch64. Detected ${CMAKE_SYSTEM_NAME} and ${CMAKE_SYSTEM_PROCESSOR}")
 endif()
 
-#ExternalProject_Add(kinova_binary_api
-#  URL ${API_URL}
-#  CONFIGURE_COMMAND ""
-#  BUILD_COMMAND ""
-#  INSTALL_COMMAND ""
-#)
+# Download/unpack the Kinova binary API headers
+FetchContent_Declare(
+  kinova_binary_api
+  URL ${API_URL}
+)
+
+FetchContent_MakeAvailable(kinova_binary_api)
 
 find_package(ament_cmake REQUIRED)
 
diff --git a/kortex_driver/CMakeLists.txt b/kortex_driver/CMakeLists.txt
index 6e47d729..ccce2b42 100644
--- a/kortex_driver/CMakeLists.txt
+++ b/kortex_driver/CMakeLists.txt
@@ -1,14 +1,25 @@
 cmake_minimum_required(VERSION 3.14)
+project(kortex_driver)
+
 include(FetchContent)
+
+# Select correct Kinova Binary API zip based on platform
+
+if(CMAKE_SYSTEM_NAME STREQUAL "Linux" AND CMAKE_SYSTEM_PROCESSOR STREQUAL "x86_64")
+  set(API_URL "https://artifactory.kinovaapps.com:443/artifactory/generic-public/kortex/API/2.5.0/linux_x86-64_x86_gcc.zip")
+elseif(CMAKE_SYSTEM_NAME STREQUAL "Linux" AND CMAKE_SYSTEM_PROCESSOR STREQUAL "aarch64")
+  set(API_URL "https://artifactory.kinovaapps.com:443/artifactory/generic-local-public/kortex/API/2.7.0/linux_aarch64_gcc_7.4.zip")
+else()
+  set(API_URL "")
+  message(FATAL_ERROR "Unsupported System: Detected ${CMAKE_SYSTEM_NAME} and ${CMAKE_SYSTEM_PROCESSOR}")
+endif()
+
 FetchContent_Declare(
   kinova_binary_api
-  URL https://artifactory.kinovaapps.com:443/artifactory/generic-public/kortex/API/2.5.0/linux_x86-64_x86_gcc.zip
-  URL_HASH MD5=64bd86e7ab8bda90ef1fc7d6a356e080
+  URL ${API_URL}
 )
 FetchContent_MakeAvailable(kinova_binary_api)
 
-project(kortex_driver)
-
 # Default to C++14
 if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 14)
@@ -28,16 +39,6 @@ find_package(pluginlib REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(kortex_api REQUIRED)
 
-#Current: only support Linux x86_64
-if(CMAKE_SYSTEM_NAME STREQUAL "Linux" AND CMAKE_SYSTEM_PROCESSOR STREQUAL "x86_64")
-  set(API_URL https://artifactory.kinovaapps.com:443/artifactory/generic-public/kortex/API/2.5.0/linux_x86-64_x86_gcc.zip)
-else()
-  # TODO(future) to support ARM or other builds logic could go here to fetch the precompiled libKortexApiCpp.a
-  # see notes in kortex_api CMakeList.txt
-  message(WARNING "Detected ${CMAKE_SYSTEM_NAME} and ${CMAKE_SYSTEM_PROCESSOR}")
-  message(FATAL_ERROR "Unsupported System: currently support is for Linux x68_64.")
-endif()
-
 # CMake does not allow IMPORTED libraries to be installed
 # The package kortex_api will download and setup the include directories
 add_library(KortexApiCpp STATIC IMPORTED)
diff --git a/kortex_driver/src/hardware_interface.cpp b/kortex_driver/src/hardware_interface.cpp
index 98ca5a79..a054ad8a 100644
--- a/kortex_driver/src/hardware_interface.cpp
+++ b/kortex_driver/src/hardware_interface.cpp
@@ -239,7 +239,6 @@ CallbackReturn KortexMultiInterfaceHardware::on_init(const hardware_interface::H
     // command.set_duration = execute time (milliseconds) according to the api ->
     // (not implemented yet)
     // see: https://github.com/Kinovarobotics/kortex/blob/master/api_cpp/doc/markdown/messages/Base/TwistCommand.md
-    k_api_twist_command_.set_duration(0);
     k_api_twist_ = k_api_twist_command_.mutable_twist();
   }