# Concepts

Deep dive into curobo_ros architecture, design patterns, and technical concepts.

## Core Concepts

### Architecture
- **[System Architecture](architecture.md)** - Overall system design, components, and data flow
- **[Manager Architecture](manager-architecture.md)** - Core managers design patterns and data flows
- **[Unified Planner Architecture](unified-planner.md)** - Flexible planning framework supporting multiple algorithms

### Planning & Control
- **[Parameters Guide](parameters.md)** - Understand and tune all planning parameters
- **[MPC Implementation](mpc-implementation.md)** - Model Predictive Control implementation guide

### Interfaces
- **[ROS 2 Interfaces](ros-interfaces.md)** - Complete reference of services, topics, actions, and messages
- **[RViz Plugin](rviz-plugin.md)** - Interactive trajectory preview and visualization

```{toctree}
:maxdepth: 2
:hidden:

architecture
manager-architecture
unified-planner
parameters
mpc-implementation
ros-interfaces
rviz-plugin
```