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update to 2.6.0 API and add support for aarch64 #238

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update to 2.6.0 API and add support for aarch64 #238

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33 changes: 15 additions & 18 deletions kortex_api/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,13 +1,5 @@
cmake_minimum_required(VERSION 3.14)
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
)

FetchContent_MakeAvailable(kinova_binary_api)

project(kortex_api)

Expand All @@ -18,20 +10,25 @@ project(kortex_api)
# 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)
#Current: only support Linux x86_64 and aarch64
if(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/2.6.0/linux_aarch64_gcc_7.4.zip
URL_HASH MD5=d7771a7c106888717ace359164d40235
)
elseif(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/2.6.0/linux_x86-64_x86_gcc.zip
URL_HASH MD5=9d787a0f5405f02031db1e01dffa408f
)
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 x68_64 or aarch64. Detected ${CMAKE_SYSTEM_NAME} and ${CMAKE_SYSTEM_PROCESSOR}")
endif()

#ExternalProject_Add(kinova_binary_api
# URL ${API_URL}
# CONFIGURE_COMMAND ""
# BUILD_COMMAND ""
# INSTALL_COMMAND ""
#)
FetchContent_MakeAvailable(kinova_binary_api)

find_package(ament_cmake REQUIRED)

Expand Down
26 changes: 16 additions & 10 deletions kortex_driver/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,11 +1,5 @@
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
)
FetchContent_MakeAvailable(kinova_binary_api)

project(kortex_driver)

Expand All @@ -28,16 +22,28 @@ 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)
#Current: only support Linux x86_64 and aarch64
if(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/2.6.0/linux_aarch64_gcc_7.4.zip
URL_HASH MD5=d7771a7c106888717ace359164d40235
)
elseif(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/2.6.0/linux_x86-64_x86_gcc.zip
URL_HASH MD5=9d787a0f5405f02031db1e01dffa408f
)
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.")
message(FATAL_ERROR "Unsupported System: currently support is for Linux x68_64 or aarch64.")
endif()

FetchContent_MakeAvailable(kinova_binary_api)

# 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)
Expand Down
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