ROS 2 Kortex

Kinova® Kortex™ is the common software platform behind all of the products in the Gen3 family (Gen3 and Gen3 lite). It unifies the inner workings of the various robots and their related external tools, like the API.
https://www.kinovarobotics.com/product/gen3-robots

ROS2 Kortex is the official ROS2 package to interact with Kortex and its related products. It is built upon the Kortex API, documentation for which can be found in the GitHub Kortex repository.

Build status

ROS 2 Distro	Humble	Jazzy
Branch	humble	main
Build Status
Release Status	Stable (binary available — may lag behind source)	Stable (source only)

Note: There are several CI jobs checking against future upstream changes see detailed build status for a full list of CI jobs and for more information.

Note: Gazebo classic support was removed from the main branch of this repository

Getting started

1. Install ROS 2.

For this branch, ROS2 Jazzy has to be installed on Ubuntu 24.04.

Latest LTS Release: Install ROS2 Jazzy</br>

After installing ROS2, source the setup.bash, which will set the $ROS_DISTRO environment variable.

1. If you plan to use MoveIt, it is recommended to install and use Cyclone DDS.

   sudo apt install ros-$ROS_DISTRO-rmw-cyclonedds-cpp
   export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
   

Contributing to this repository or building from source

To build this repository from source or contribute back to the repository read on.

1. Make sure that colcon, its extensions, and vcs are installed:

   sudo apt install python3-colcon-common-extensions python3-vcstool
   

1. Create a new ROS2 workspace:

   export COLCON_WS=~/workspace/ros2_kortex_ws
   mkdir -p $COLCON_WS/src
   

1. Pull relevant packages:

   cd $COLCON_WS
   git clone https://github.com/Kinovarobotics/ros2_kortex.git src/ros2_kortex
   vcs import src --skip-existing --input src/ros2_kortex/ros2_kortex.$ROS_DISTRO.repos
   vcs import src --skip-existing --input src/ros2_kortex/ros2_kortex-not-released.$ROS_DISTRO.repos
   

If you plan on simulating the robot with Gazebo, make sure to pull the additional simulation packages. If you’re on ROS 2 Humble, run

   vcs import src --skip-existing --input src/ros2_kortex/simulation.jazzy.repos
   

otherwise

   vcs import --skip-existing --input src/ros2_kortex/simulation.repos
   

If you plan on using MoveIt, you must make sure that you have it already installed either from binaries or by building it from source.

1. Follow the instructions to install Gazebo Harmonic

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