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Add Kinova Kortex and the Gen3 MoveIt configs (linux-64) #113

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Add Kinova Kortex and the Gen3 MoveIt configs (linux-64) #113

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d0b48a7
Add Kinova Kortex and the Gen3 MoveIt configs (linux-64) [skip ci]
Tobias-Fischer Oct 18, 2026
7f7d7f8
rolling: kortex_driver without ament_target_dependencies [skip ci]
Tobias-Fischer Oct 19, 2026
15e799b
lyrical: kortex_driver without ament_target_dependencies too [skip ci]
Tobias-Fischer Oct 19, 2026
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31 changes: 31 additions & 0 deletions distros/lyrical/patch/ros2-kortex-driver.patch
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Original file line number Diff line number Diff line change
@@ -0,0 +1,31 @@
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 6e47d729..687c241d 100644
--- a/CMakeLists.txt
+++ b/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)
31 changes: 31 additions & 0 deletions distros/rolling/patch/ros2-kortex-driver.patch
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Original file line number Diff line number Diff line change
@@ -0,0 +1,31 @@
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 6e47d729..687c241d 100644
--- a/CMakeLists.txt
+++ b/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)
4 changes: 4 additions & 0 deletions shared/vinca.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -514,6 +514,10 @@ packages_select_by_deps:
- if: linux and not aarch64
then:
- franka_ros2 # Franka robots support; see PR #338 for macOS/Windows errors
- kinova_gen3_6dof_robotiq_2f_85_moveit_config # kortex_api ships a linux-x86_64 binary; requested in https://github.com/RoboStack/ros-jazzy/pull/221
- kinova_gen3_7dof_robotiq_2f_85_moveit_config
- kinova_gen3_lite_moveit_config
- kortex_bringup
- libfranka # conda-forge's libfranka is only published for linux-64, not linux-aarch64
- webots_ros2 # Cyberbotics

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