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Add Kinova Kortex and the Gen3 MoveIt configs (linux-64) - #113
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Ports the Kinova part of RoboStack/ros-jazzy#221 (the picknik and robotiq packages from it are already built). kortex_api downloads a linux-x86_64-only binary, hence linux-64 only. Co-authored-by: Ruben Arts <12893423+ruben-arts@users.noreply.github.com> Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Tobias-Fischer
marked this pull request as ready for review
October 19, 2026 01:42
Merged
ament_cmake 2.9 (rolling) no longer provides ament_target_dependencies(),
so kortex_driver 0.2.5 fails to configure ("Unknown CMake command").
Take the CMake part of upstream's fix, Kinovarobotics/ros2_kortex#415
(9dd1bbb): link the namespaced targets and add kortex_api's headers as
SYSTEM includes. The rest of that commit goes with its kortex_api update,
which rolling's 0.2.5 release doesn't have. lyrical's ament_cmake (2.8.8)
still has the function.
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
lyrical's ament_cmake doesn't provide ament_target_dependencies() either
("Unknown CMake command" in a linux-64 build), so lyrical gets the same
patch as rolling (the CMake part of Kinovarobotics/ros2_kortex#415).
lyrical's hardware_interface (6.10) still has the pointer-based
interfaces kortex_driver uses.
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
….12 [skip ci] kortex_driver 0.2.5 still uses the pointer-based StateInterface and CommandInterface constructors that ros2_control 6.12 (rolling) removed, and upstream main hasn't migrated (Kinovarobotics/ros2_kortex#430). Exclude it on rolling, with kortex_bringup and the three Gen3 MoveIt configs that need it; kortex_api and kortex_description, which only these pull in, aren't generated either. Checked with vinca: no kortex or kinova recipe is generated for rolling, and nothing else refers to them. The rolling CMake patch for kortex_driver goes again (nothing to apply it to); lyrical keeps its copy. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
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Human Tobi: looks good to go once the sync PRs are in |
…gain [skip ci] Instead of excluding Kortex on rolling, patch kortex_driver 0.2.5: the CMake part of Kinovarobotics/ros2_kortex#415 (no ament_target_dependencies in ament_cmake 2.9) and the handle-based interface export, the same C++ change as Kinovarobotics/ros2_kortex#431 (sent upstream for #430): unlisted interfaces for everything the URDF doesn't declare, same names and types, with the members mirrored around read()/write() and the driver's own command resets written to the handles. Built against hardware_interface 6.12.0 on linux-64 with kortex_bringup and the 7-DoF Gen3 MoveIt config on top; an offline check of the exported interface names matches 0.2.5's. Not tested on hardware. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Tobias-Fischer
added
build:humble
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Tobias-Fischer
added
the
build:linux
Tobias-Fischer
added
build:rolling
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@ruben-arts - could you please have a quick look at this PR? |
ruben-arts
approved these changes
Oct 25, 2026
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Ports the Kinova part of RoboStack/ros-jazzy#221 by @ruben-arts: adds
kortex_bringup(withkortex_driver,kortex_description,kortex_api) and thekinova_gen3_6dof_robotiq_2f_85_moveit_config,kinova_gen3_7dof_robotiq_2f_85_moveit_configandkinova_gen3_lite_moveit_config(the rosdistro's names) to the linux-64-only block:kortex_apidownloads a linux-x86_64-only binary. The picknik and robotiq packages from that PR are already built.Built locally
kortex_api,kortex_description,kortex_driver,kortex_bringupand the threekinova_gen3_*_moveit_configpackages, with their recipe tests (rebuilt after the first build had to skip them because of a system OpenEXR 2, fixed by rviz_ogre_vendor: don't build Ogre's EXR codec #116).kortex_api,kortex_description,kortex_driver,kortex_bringupand the threekinova_gen3_*_moveit_configpackages, with their recipe tests (the OpenEXR issue that forced--test skipon jazzy is fixed by rviz_ogre_vendor: don't build Ogre's EXR codec #116).kortex_driver0.2.5 needed the CMake part of upstream's Kortex API & Rolling Binary Build Updates Kinovarobotics/ros2_kortex#415: lyrical's and rolling's ament_cmake no longer provideament_target_dependencies().kortex_driver0.2.5 patched for ros2_control 6.12 (distros/rolling/patch/ros2-kortex-driver.patch): the CMake part of Kortex API & Rolling Binary Build Updates Kinovarobotics/ros2_kortex#415 plus a port to the handle-based interface export, the same C++ change as kortex_driver: export handles instead of value pointers (ros2_control 6.12) Kinovarobotics/ros2_kortex#431 (sent upstream for kortex_driver: build fails on Rolling with ros2_control 6.12 (pointer-based StateInterface/CommandInterface removed) Kinovarobotics/ros2_kortex#430). Interfaces the URDF doesn't declare are exported as unlisted ones with the same names, and the members are mirrored aroundread()/write(). Built againsthardware_interface6.12.0 withkortex_bringupand the 7-DoF Gen3 MoveIt config on top; an offline check of the exported interfaces matches 0.2.5's. Not tested on hardware. (On rolling,robotiq_description0.0.1 rejects an argumentkortex_descriptionpasses to the gripper xacro, independent of this.)CI (run): humble, jazzy, lyrical and rolling build
kortex_api,kortex_description,kortex_driver,kortex_bringupand the threekinova_gen3_*_moveit_configpackages on linux-64 (the other platforms build nothing:kortex_apiis a linux-x86_64 binary). Merged with main.🤖 Generated with Claude Code