Package architecture¶

Overview¶

curobo_ros uses a modular, pattern-based architecture that separates concerns between planning, robot control, and visualization. The architecture supports:

Multiple planning strategies (Classic, MPC, Batch, Constrained)
Multiple robot control strategies (Real robot, Emulator, Ghost)
Dynamic switching between strategies at runtime
Extensibility for custom planners and robot controllers

Unified Planner Architecture¶

The unified planner implements the Strategy Pattern to support multiple planning algorithms:

        classDiagram
    class TrajectoryPlanner {
        <<abstract>>
        +plan(start, goal, config) PlannerResult
        +execute(robot_context, goal_handle) bool
        +get_execution_mode() ExecutionMode
        +get_planner_name() str
    }
 
    class ClassicPlanner {
        +ExecutionMode: OPEN_LOOP
        +plan() PlannerResult
        +execute() bool
    }
 
    class MPCPlanner {
        +ExecutionMode: CLOSED_LOOP
        +plan() PlannerResult
        +execute() bool
        -convergence_threshold: float
        -max_iterations: int
    }
 
    class BatchPlanner {
        +ExecutionMode: OPEN_LOOP
        +plan() PlannerResult
        +execute() bool
        -num_trajectories: int
    }
 
    class ConstrainedPlanner {
        +ExecutionMode: OPEN_LOOP
        +plan() PlannerResult
        +execute() bool
        -custom_constraints: dict
    }
 
    class PlannerFactory {
        <<factory>>
        +create_planner(type, node, config) TrajectoryPlanner
        +register_planner(name, class)
        +list_planners() list
    }
 
    class PlannerManager {
        -current_planner: TrajectoryPlanner
        -available_planners: dict
        +set_current_planner(name) bool
        +get_current_planner() TrajectoryPlanner
        +list_available_planners() list
    }
 
    class UnifiedPlannerNode {
        -planner_manager: PlannerManager
        +generate_trajectory_callback()
        +execute_trajectory_callback()
        +set_planner_callback()
    }
 
    TrajectoryPlanner <|-- ClassicPlanner
    TrajectoryPlanner <|-- MPCPlanner
    TrajectoryPlanner <|-- BatchPlanner
    TrajectoryPlanner <|-- ConstrainedPlanner
    PlannerFactory ..> TrajectoryPlanner : creates
    PlannerManager o-- TrajectoryPlanner : manages
    UnifiedPlannerNode --> PlannerManager : uses

Key Features:

Strategy Pattern: Easy to add new planners
Factory Pattern: Centralized planner creation
Manager Pattern: Runtime planner switching
Type-safe: Enum-based planner selection

For details, see Unified Planner Documentation.

Robot Control Strategy Architecture¶

Robot control also uses the Strategy Pattern for different robot types:

        classDiagram
    class JointCommandStrategy {
        <<abstract>>
        +send_trajectory()
        +get_joint_pose() array
        +get_joint_name() list
        +stop_robot()
        +get_progression() float
    }
 
    class DoosanControl {
        +send_trajectory()
        +get_joint_pose()
        -topic: /leeloo/execute_trajectory
    }
 
    class EmulatorStrategy {
        +send_trajectory()
        +get_joint_pose()
        -topic: /joint_states
        -simulation_thread: Thread
    }
 
    class GhostStrategy {
        +send_trajectory()
        +get_joint_pose()
        -topic: /trajectory
        -instant_display: bool
    }
 
    class RobotContext {
        -strategy: JointCommandStrategy
        -strategy_lock: Lock
        +set_command(trajectory)
        +send_trajectory()
        +select_strategy(robot_type)
        +get_robot_state() RobotState
    }
 
    JointCommandStrategy <|-- DoosanControl
    JointCommandStrategy <|-- EmulatorStrategy
    JointCommandStrategy <|-- GhostStrategy
    RobotContext o-- JointCommandStrategy : uses