fix(claude): resolve issue #264 - Use MoveIt with a different end-effector in place of the Robotiq grippers

.github/workflows/README.md

@@ -6,22 +6,17 @@ A RED job might not mean that this package is currently broken but that an depen
 
 To avoid overloading users viewing the main README page a full list of build statues can be kept here for package maintainers
 
-ROS2 Distro | Humble | Iron | Rolling
-:---------: | :----: | :--: | :-----:
-| **Branch** | [`main`](https://github.com/PickNikRobotics/ros2_kortex/tree/main) | [`main`](https://github.com/PickNikRobotics/ros2_kortex/tree/main) | [`main`](https://github.com/PickNikRobotics/ros2_kortex/tree/main)
-| **Build Status** | [![Humble Binary Build](https://github.com/PickNikRobotics/ros2_kortex/actions/workflows/humble-binary-build.yml/badge.svg?branch=main)](https://github.com/PickNikRobotics/ros2_kortex/actions/workflows/humble-binary-build.yml?branch=main) <br /> [![Humble Source Build](https://github.com/PickNikRobotics/ros2_kortex/actions/workflows/humble-source-build.yml/badge.svg?branch=main)](https://github.com/PickNikRobotics/ros2_kortex/actions/workflows/humble-source-build.yml?branch=main) | :construction: | [![Rolling Binary Build](https://github.com/PickNikRobotics/ros2_kortex/actions/workflows/rolling-binary-build.yml/badge.svg?branch=main)](https://github.com/PickNikRobotics/ros2_kortex/actions/workflows/rolling-binary-build.yml?branch=main) <br /> [![Rolling Semi-Binary Build](https://github.com/PickNikRobotics/ros2_kortex/actions/workflows/rolling-semi-binary-build.yml/badge.svg?branch=main)](https://github.com/PickNikRobotics/ros2_kortex/actions/workflows/rolling-semi-binary-build.yml?branch=main) <br /> [![Rolling Source Build](https://github.com/PickNikRobotics/ros2_kortex/actions/workflows/rolling-source-build.yml/badge.svg?branch=main)](https://github.com/PickNikRobotics/ros2_kortex/actions/workflows/rolling-source-build.yml?branch=main)
+ROS2 Distro | Jazzy
+:---------: | :---:
+| **Branch** | [`jazzy`](https://github.com/Kinovarobotics/ros2_kortex/tree/jazzy)
+| **Build Status** | [![Jazzy Binary Build](https://github.com/Kinovarobotics/ros2_kortex/actions/workflows/jazzy-binary-build.yml/badge.svg?branch=jazzy)](https://github.com/Kinovarobotics/ros2_kortex/actions/workflows/jazzy-binary-build.yml?branch=jazzy) <br /> [![Jazzy Source Build](https://github.com/Kinovarobotics/ros2_kortex/actions/workflows/jazzy-source-build.yml/badge.svg?branch=jazzy)](https://github.com/Kinovarobotics/ros2_kortex/actions/workflows/jazzy-source-build.yml?branch=jazzy)
 
 ### Explanation of different build types
 
-**NOTE**: There are three build stages checking current and future compatibility of the package.
+**NOTE**: For the jazzy branch, there are two build stages checking current and future compatibility of the package.
 
 1. Binary builds - against released packages (main and testing) in ROS distributions. Shows that direct local build is possible.
 
    Uses repos file: `src/$NAME$/$NAME$-not-released.<ros-distro>.repos`
 
-1. Semi-binary builds - against released core ROS packages (main and testing), but the immediate dependencies are pulled from source.
-   Shows that local build with dependencies is possible and if fails there we can expect that after the next package sync we will not be able to build.
-
-   Uses repos file: `src/$NAME$/$NAME$.repos`
-
-1. Source build - also core ROS packages are build from source. It shows potential issues in the mid future.
+2. Source build - also core ROS packages are build from source. It shows potential issues in the mid future.

.github/workflows/ci-ros-lint.yml

@@ -11,8 +11,8 @@ jobs:
       matrix:
           linter: [cppcheck, copyright]
     steps:
-    - uses: actions/checkout@v3
-    - uses: ros-tooling/setup-ros@v0.6
+    - uses: actions/checkout@v4
+    - uses: ros-tooling/setup-ros@v0.7
     - name: Set environment variable for cppcheck 2.7
       run: echo "AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS=1" >> $GITHUB_ENV
     - uses: ros-tooling/action-ros-lint@v0.1
@@ -32,8 +32,8 @@ jobs:
     strategy:
       fail-fast: false
     steps:
-    - uses: actions/checkout@v3
-    - uses: ros-tooling/setup-ros@v0.6
+    - uses: actions/checkout@v4
+    - uses: ros-tooling/setup-ros@v0.7
     - uses: ros-tooling/action-ros-lint@v0.1
       with:
         distribution: rolling
@@ -49,8 +49,8 @@ jobs:
       matrix:
           linter: [cpplint]
     steps:
-    - uses: actions/checkout@v3
-    - uses: ros-tooling/setup-ros@v0.6
+    - uses: actions/checkout@v4
+    - uses: ros-tooling/setup-ros@v0.7
     - uses: ros-tooling/action-ros-lint@v0.1
       with:
         distribution: rolling

.github/workflows/claude-triage.yml

@@ -0,0 +1,38 @@
+name: Claude Daily Issue Triage
+
+on:
+  schedule:
+    - cron: "0 14 * * 1"   # runs daily at 09:00 EST
+  workflow_dispatch:      # allows manual trigger
+
+jobs:
+  triage:
+    runs-on: ubuntu-latest
+
+    permissions:
+      issues: write
+      contents: read
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Setup Node
+        uses: actions/setup-node@v4
+        with:
+          node-version: 20
+
+      - name: Install Claude Code CLI
+        run: npm install -g @anthropic-ai/claude-code
+
+      - name: Run Claude triage
+        env:
+          ANTHROPIC_API_KEY: ${{ secrets.ANTHROPIC_API_KEY }}
+        run: |
+          claude "Read all open GitHub issues. Identify likely bugs vs feature requests. Suggest labels and assign a level of complexity for each on a scale from 1 to 10" > triage_report.md
+
+      - name: Upload triage report
+        uses: actions/upload-artifact@v4
+        with:
+          name: triage-report
+          path: triage_report.md

.github/workflows/humble-binary-build.yml → .github/workflows/jazzy-binary-build.yml

@@ -1,27 +1,27 @@
-name: Humble Binary Build
+name: Jazzy Binary Build
 on:
   pull_request:
     branches:
-      # try to keep humble and rolling(main) in sync
-      - humble
+      # try to keep jazzy and rolling(main) in sync
+      - jazzy
       - main
   push:
     branches:
-      - humble
+      - jazzy
       - main
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '13 4 * * *'
 
 jobs:
-  humble_binary:
-    name: humble binary build
+  jazzy_binary:
+    name: jazzy binary build
     runs-on: ubuntu-latest
     strategy:
       matrix:
         env:
-          - {ROS_DISTRO: humble, ROS_REPO: main}
-          - {ROS_DISTRO: humble, ROS_REPO: testing}
+          - {ROS_DISTRO: jazzy, ROS_REPO: main}
+          - {ROS_DISTRO: jazzy, ROS_REPO: testing}
     env:
       UPSTREAM_WORKSPACE: ros2_kortex-not-released.${{ matrix.env.ROS_DISTRO }}.repos
       ROSDEP_SKIP_KEYS: gz_ros2_control

.github/workflows/humble-source-build.yml → .github/workflows/jazzy-source-build.yml

@@ -1,30 +1,30 @@
-name: Humble Source Build
+name: Jazzy Source Build
 on:
   push:
     branches:
-      # try to keep humble and rolling(main) in sync
-      - humble
+      # try to keep jazzy and rolling(main) in sync
+      - jazzy
       - main
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '43 1 * * *'
 
 jobs:
-  humble_source:
-    runs-on: ubuntu-22.04
+  jazzy_source:
+    runs-on: ubuntu-24.04
     strategy:
       fail-fast: false
     env:
-      ROS_DISTRO: humble
+      ROS_DISTRO: jazzy
     steps:
-      - uses: ros-tooling/setup-ros@v0.6
+      - uses: ros-tooling/setup-ros@v0.7
         with:
           required-ros-distributions: ${{ env.ROS_DISTRO }}
       - uses: actions/checkout@v3
-      - uses: ros-tooling/action-ros-ci@0.3.2
+      - uses: ros-tooling/action-ros-ci@v0.4
         with:
           target-ros2-distro: ${{ env.ROS_DISTRO }}
-          # Currently main is compatible with Humble
+          # Currently main is compatible with Jazzy
           ref: main
           import-token: ${{ secrets.GITHUB_TOKEN }}
           # build all packages listed in the meta package
@@ -35,7 +35,7 @@ jobs:
             https://raw.githubusercontent.com/ros2/ros2/${{ env.ROS_DISTRO }}/ros2.repos
             file://${{ github.workspace }}/ros2_kortex.${{ env.ROS_DISTRO }}.repos
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-      - uses: actions/upload-artifact@v1
+      - uses: actions/upload-artifact@v4
         with:
-          name: colcon-logs-${{ matrix.os }}
+          name: colcon-logs
           path: ros_ws/log

issue.json

@@ -0,0 +1 @@
+{"author":{"id":"U_kgDOC7hpFQ","is_bot":false,"login":"nicco99-prog","name":""},"body":"I would like to customize my Kinova robot by equipping it with a different end-effector instead of the Robotiq grippers. I already have the URDF and Xacro files for this end-effector, and I’d like to use MoveIt to control my robot outside of simulation. Do you have any suggestions?\nEven when I try to remove the gripper and use only the kinova robot without the gripper, I get this kind of error:\n[ros2_control_node-1] [ERROR] [1747672075.483567156] [KortexMultiInterfaceHardware]: Gripper joint name is empty!\n\nPS: Running on ROS2 Jazzy, Ubuntu 24.04\n","labels":[{"id":"LA_kwDOF0UnJs8AAAAB_nQZaA","name":"updated","description":"There is an update on the issue that was not addressed","color":"DA3250"}],"number":287,"title":"Use MoveIt with a different end-effector in place of the Robotiq grippers","url":"https://github.com/Kinovarobotics/ros2_kortex/issues/287"}

kortex_api/CHANGELOG.rst

@@ -2,6 +2,21 @@
 Changelog for package kortex_api
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.2.6 (2026-01-07)
+------------------
+* Changed Kortex API fetching from online URL to local path
+* Contributors: Abed Al Rahman Al Mrad
+
+0.2.4 (2025-12-15)
+------------------
+* modified the kortex trademark name (`#305 <https://github.com/Kinovarobotics/ros2_kortex/issues/305>`_)
+* Contributors: Abed Al Rahman Al Mrad
+
+0.2.3 (2025-02-27)
+------------------
+* Package version updates
+* Contributors: Abed Al Rahman Al Mrad
+
 0.2.2 (2023-08-09)
 ------------------
 

kortex_api/CMakeLists.txt

@@ -3,8 +3,9 @@ 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 ${CMAKE_CURRENT_SOURCE_DIR}/linux_x86-64_x86_gcc.zip
   URL_HASH MD5=64bd86e7ab8bda90ef1fc7d6a356e080
+  DOWNLOAD_EXTRACT_TIMESTAMP TRUE
 )
 
 FetchContent_MakeAvailable(kinova_binary_api)

kortex_api/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>kortex_api</name>
-  <version>0.2.3</version>
+  <version>0.2.6</version>
   <description>KINOVA KORTEX™ API</description>
 
   <maintainer email="marq.rasmussen@picknik.ai">Marq Rasmussen</maintainer>