WMX3 on ARM-based PC#

Installing WMX3 on an ARM machine is for real-world scenarios. Before moving to real motor control testing on the IPC, it is recommended to verify basic behavior in a simulator (WMX3, Isaac Sim, Gazebo, etc.).

Download the WMX3 Installer#

Unzip wmx3_arm64_installers.zip from the download site.

wget --user=guest --password=guest http://download.movensys.com:8111/webdav/WMX3_Installer/Linux/wmx3_arm64_installers.zip
unzip wmx3_arm64_installers.zip

Currently supported IPCs are listed below.

  1. Advantech MIC-713, NVIDIA Jetson Orin NX on Ubuntu 20.04

sudo dpkg -i 20260403_Ubuntu20.04_linux-5.10.120-rt70-jetson-orin-nx-mic-713-wmx3-installer.deb

  1. Advantech MIC-733ao, NVIDIA Jetson Orin AGX on Ubuntu 22.04

sudo dpkg -i 20260403_Ubuntu22.04_linux-5.15.148-rt-jetson-agx-orin-mic-733ao-wmx3-installer.deb

For the 5.15.148-tegra kernel, we also recommend using rt_igb.ko from rt_igc_igb_5.15.148-rt-tegra.zip:

wget --user=guest --password=guest http://download.movensys.com:8111/webdav/WMX3_Installer/Linux/rt_igc_igb_5.15.148-rt-tegra.zip
unzip rt_igc_igb_5.15.148-rt-tegra.zip

After unzip this, please copy rt_igb.ko or rt_igc.ko file to /opt/wmx3/platform/ethercat

cp rt_igc.ko rt_igb.ko /opt/wmx3/platform/ethercat

  1. Advantech MIC-743, NVIDIA Jetson Thor on Ubuntu 24.04

sudo dpkg -i 20260403_Ubuntu24.04_linux-6.8.12-rt-jetson-thor-mic-743-wmx3-installer.deb

The installer places the WMX3 runtime at /opt/wmx3/.

Other Environments#

Our product depends on Network Interface Card (NIC) drivers, not on specific IPCs. If you share Ubuntu kernel version and NIC driver information to issue boards (movensys/wmx-ros2#issues), we can support WMX3 installation for your environment.

Check your kernel version:

uname -a

Check your NIC drivers:

lspci -v

Verify the Installation#

After installation, confirm that the required headers and libraries are present:

ls /opt/wmx3/include/WMX3Api.h
ls /opt/wmx3/lib/libimdll.so

Both files must exist before proceeding to the next step. If either is missing, re-run the installer or contact your MOVENSYS representative.