Kortex API & Rolling Binary Build Updates

.github/workflows/rolling-binary-build.yml

@@ -15,29 +15,47 @@ jobs:
     name: rolling binary build
     runs-on: ubuntu-latest
     strategy:
+      fail-fast: false
       matrix:
         env:
-          - {ROS_DISTRO: rolling, ROS_REPO: main}
-          - {ROS_DISTRO: rolling, ROS_REPO: testing}
+          # Rolling binaries are currently published for Ubuntu 24.04 (noble).
+          # Pin OS_CODE_NAME so industrial_ci doesn't default rolling to a newer
+          # Ubuntu (e.g. resolute/26.04) that has no ros-rolling-* debs yet.
+          - {ROS_DISTRO: rolling, ROS_REPO: main, OS_CODE_NAME: noble}
+          - {ROS_DISTRO: rolling, ROS_REPO: testing, OS_CODE_NAME: noble}
     env:
       UPSTREAM_WORKSPACE: ros2_kortex-not-released.${{ matrix.env.ROS_DISTRO }}.repos
+      # Core MoveIt runtime packages are not currently published as rolling debs
+      # while Rolling migrates to Ubuntu 26.04 (missing on both frozen-noble and
+      # the not-yet-populated resolute repo). They are exec_depend-only deps of
+      # the pure ament_cmake moveit_config packages, so skipping their rosdep
+      # resolution lets the binary build proceed. Remove once Rolling debs are
+      # republished for the new platform.
+      ROSDEP_SKIP_KEYS: >-
+        moveit_kinematics
+        moveit_planners
+        moveit_ros_move_group
+        moveit_ros_visualization
+        moveit_ros_warehouse
+        moveit_setup_assistant
+        moveit_simple_controller_manager
       CCACHE_DIR: ${{ github.workspace }}/.ccache
       BASEDIR: ${{ github.workspace }}/.work
       CACHE_PREFIX: ${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v6
       # The target directory cache doesn't include the source directory because
       # that comes from the checkout.  See "prepare target_ws for cache" task below
-      - name: cache target_ws
+      - name: restore target_ws cache
         if: ${{ ! matrix.env.CCOV }}
-        uses: pat-s/always-upload-cache@v2.1.5
+        uses: actions/cache/restore@v5
         with:
           path: ${{ env.BASEDIR }}/target_ws
           key: target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}-${{ github.run_id }}
           restore-keys: |
             target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}
-      - name: cache ccache
-        uses: pat-s/always-upload-cache@v2.1.5
+      - name: restore ccache cache
+        uses: actions/cache/restore@v5
         with:
           path: ${{ env.CCACHE_DIR }}
           key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
@@ -54,3 +72,17 @@ jobs:
           sudo find ${{ env.BASEDIR }}/target_ws -wholename '*/test_results/*' -delete
           sudo rm -rf ${{ env.BASEDIR }}/target_ws/src
           du -sh ${{ env.BASEDIR }}/target_ws
+      # Save caches at the end so they are always uploaded, even when the build
+      # fails (replacement for the now-deprecated pat-s/always-upload-cache).
+      - name: save target_ws cache
+        if: ${{ always() && ! matrix.env.CCOV }}
+        uses: actions/cache/save@v5
+        with:
+          path: ${{ env.BASEDIR }}/target_ws
+          key: target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}-${{ github.run_id }}
+      - name: save ccache cache
+        if: ${{ always() }}
+        uses: actions/cache/save@v5
+        with:
+          path: ${{ env.CCACHE_DIR }}
+          key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}

kortex_api/CMakeLists.txt

@@ -3,8 +3,8 @@ 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
+  URL https://artifactory.kinovaapps.com/artifactory/generic-public/kortex/API/2.8.0/linux_x86-64_gcc_5.4.zip
+  URL_HASH MD5=b9b68885df8e1dd0e5a2ba7285f14c0d
 )
 
 FetchContent_MakeAvailable(kinova_binary_api)
@@ -20,7 +20,7 @@ project(kortex_api)
 
 #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/artifactory/generic-public/kortex/API/2.8.0/linux_x86-64_gcc_5.4.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}")

kortex_driver/CMakeLists.txt

@@ -61,13 +61,20 @@ target_include_directories(
   PRIVATE
   include
 )
-# kortex_api is the headers for the Kortex API
-ament_target_dependencies(
+# ament_target_dependencies() was removed in Rolling; link the modern
+# namespaced CMake targets directly instead.
+target_link_libraries(
   ${PROJECT_NAME}
-  SYSTEM kortex_api
-  hardware_interface
-  pluginlib
-  rclcpp
+  hardware_interface::hardware_interface
+  pluginlib::pluginlib
+  rclcpp::rclcpp
+)
+# kortex_api is a header-only ament package (no exported CMake target), so its
+# headers are added as SYSTEM includes the way "SYSTEM kortex_api" used to.
+target_include_directories(
+  ${PROJECT_NAME}
+  SYSTEM PUBLIC
+  ${kortex_api_INCLUDE_DIRS}
 )
 
 pluginlib_export_plugin_description_file(hardware_interface hardware_interface_plugin.xml)

kortex_driver/src/hardware_interface.cpp

@@ -231,7 +231,7 @@ CallbackReturn KortexMultiInterfaceHardware::on_init(
     // 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_command_.set_duration(0);
     k_api_twist_ = k_api_twist_command_.mutable_twist();
   }