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Modifications to support ARM64 architecture #339

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Merged
aalmrad merged 1 commit into from
Feb 4, 2026
Merged

Modifications to support ARM64 architecture #339

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39 changes: 14 additions & 25 deletions kortex_api/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -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)

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29 changes: 15 additions & 14 deletions kortex_driver/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -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)
Expand All @@ -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)
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1 change: 0 additions & 1 deletion kortex_driver/src/hardware_interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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();
}

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