diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8e332b6a..1187892f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -204,8 +204,9 @@ if(WITH_ROS_SUPPORT)
     get_property(DIR GLOBAL PROPERTY CATKIN_WORKSPACE_${ID}_DIR)
     if(ROS_IS_ROS2)
       set(ROS_SETUP_PATH "${DIR}/install/setup${RC_EXT}")
-      set(FINAL_COMMAND "${FINAL_COMMAND} 
-export ROS_LOCALHOST_ONLY=1")
+      set(FINAL_COMMAND "${FINAL_COMMAND}
+export ROS_LOCALHOST_ONLY=1"
+      )
     else()
       set(ROS_SETUP_PATH "${DIR}/devel/setup${RC_EXT}")
     endif()
diff --git a/robots/Kinova.cmake b/robots/Kinova.cmake
new file mode 100644
index 00000000..2fbc8ce6
--- /dev/null
+++ b/robots/Kinova.cmake
@@ -0,0 +1,38 @@
+option(WITH_Kinova "Build Kinova support" OFF)
+
+if(NOT WITH_Kinova)
+  return()
+endif()
+
+if(NOT WITH_ROS_SUPPORT)
+  message(FATAL_ERROR "ROS support is required to use the Kinova robot")
+endif()
+
+if(ROS_IS_ROS2)
+  AptInstall(
+    ros-${ROS_DISTRO}-kortex-api ros-${ROS_DISTRO}-kortex-bringup
+    ros-${ROS_DISTRO}-kortex-description ros-${ROS_DISTRO}-kortex-driver
+  )
+
+  AddProject(
+    mc_kinova
+    GITHUB mathieu-celerier/mc_kinova
+    GIT_TAG origin/main
+    APT_PACKAGES mc_rtc ros-${ROS_DISTRO}-kortex-api ros-${ROS_DISTRO}-kortex-bringup
+                 ros-${ROS_DISTRO}-kortex-description ros-${ROS_DISTRO}-kortex-driver
+  )
+else()
+  AddCatkinProject(
+    ros_kortex
+    GITHUB Kinovarobotics/ros_kortex
+    GIT_TAG origin/${ROS_DISTRO}-devel
+    WORKSPACE data_ws
+  )
+
+  AddProject(
+    mc_kinova
+    GITHUB isri-aist/mc_kinova
+    GIT_TAG origin/main
+    DEPENDS mc_rtc ros_kortex
+  )
+endif()