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fix(claude): resolve issue #254 - aarch64 support #403

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fix(claude): resolve issue #254 - aarch64 support #403

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1 change: 1 addition & 0 deletions issue.json
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Original file line number Diff line number Diff line change
@@ -0,0 +1 @@
{"author":{"id":"MDQ6VXNlcjY5MDE2NjEw","is_bot":false,"login":"nirbheeksetia","name":""},"body":"**Description**\r\nI am trying to follow the official MoveIt installation tutorial from the website. (For further reference: https://moveit.picknik.ai/main/doc/tutorials/getting_started/getting_started.html ) While running the last command I get an error concerning the architecture of my system which seems to be related to kortex_api.\r\n\r\n**Environment**\r\n -ROS Distro: Jazzy \r\n -OS Version: Ubuntu 24.04 (WSL2)\r\n - CPU information:\r\n ![Image](https://github.com/user-attachments/assets/1795d795-b7a7-45e2-aae1-582d8f5ff745)\r\n\r\n**Steps to reproduce**\r\nAfter following through the whole tutorial, run the final command:\r\n```\r\ncd ~/ws_moveit\r\ncolcon build --mixin release\r\n```\r\n\r\n**Error/Output**\r\n![Image](https://github.com/user-attachments/assets/6a9f258c-f6c0-4188-9a8b-8275cd314075)\r\n\r\nIs there no aarch64 support yet for kortex_api? If no, how do I install MoveIt on my system?\r\n\r\nThank you in advanace for your help and answers!","labels":[],"number":254,"title":"aarch64 support","url":"https://github.com/Kinovarobotics/ros2_kortex/issues/254"}
34 changes: 15 additions & 19 deletions kortex_api/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,32 +1,28 @@
cmake_minimum_required(VERSION 3.14)
include(FetchContent)
#include(ExternalProject)
FetchContent_Declare(
kinova_binary_api
URL ${CMAKE_CURRENT_SOURCE_DIR}/linux_x86-64_x86_gcc.zip
URL_HASH MD5=64bd86e7ab8bda90ef1fc7d6a356e080
DOWNLOAD_EXTRACT_TIMESTAMP TRUE
)

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

#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)
FetchContent_Declare(
kinova_binary_api
URL ${CMAKE_CURRENT_SOURCE_DIR}/linux_x86-64_x86_gcc.zip
URL_HASH MD5=64bd86e7ab8bda90ef1fc7d6a356e080
DOWNLOAD_EXTRACT_TIMESTAMP TRUE
)
elseif(CMAKE_SYSTEM_NAME STREQUAL "Linux" AND CMAKE_SYSTEM_PROCESSOR STREQUAL "aarch64")
FetchContent_Declare(
kinova_binary_api
URL https://artifactory.kinovaapps.com:443/artifactory/generic-public/kortex/API/2.5.0/linux_aarch64_aarch64_gcc.zip
DOWNLOAD_EXTRACT_TIMESTAMP TRUE
)
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 x86_64 and Linux aarch64. Detected ${CMAKE_SYSTEM_NAME} and ${CMAKE_SYSTEM_PROCESSOR}")
endif()

FetchContent_MakeAvailable(kinova_binary_api)

#ExternalProject_Add(kinova_binary_api
# URL ${API_URL}
# CONFIGURE_COMMAND ""
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29 changes: 14 additions & 15 deletions kortex_driver/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,10 +1,19 @@
cmake_minimum_required(VERSION 3.14)
include(FetchContent)
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
)
if(CMAKE_SYSTEM_NAME STREQUAL "Linux" AND CMAKE_SYSTEM_PROCESSOR STREQUAL "x86_64")
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
)
elseif(CMAKE_SYSTEM_NAME STREQUAL "Linux" AND CMAKE_SYSTEM_PROCESSOR STREQUAL "aarch64")
FetchContent_Declare(
kinova_binary_api
URL https://artifactory.kinovaapps.com:443/artifactory/generic-public/kortex/API/2.5.0/linux_aarch64_aarch64_gcc.zip
)
else()
message(FATAL_ERROR "Unsupported System: currently support is for Linux x86_64 and Linux aarch64. Detected ${CMAKE_SYSTEM_NAME} and ${CMAKE_SYSTEM_PROCESSOR}")
endif()
FetchContent_MakeAvailable(kinova_binary_api)

project(kortex_driver)
Expand All @@ -28,16 +37,6 @@ 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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