Concepts

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

Core Concepts

Architecture

• System Architecture - Overall system design, components, and data flow

• Manager Architecture - Core managers design patterns and data flows

• Unified Planner Architecture - Flexible planning framework supporting multiple algorithms

Planning & Control

• Parameters Guide - Understand and tune all planning parameters

• MPC Implementation - Model Predictive Control implementation guide

Interfaces

• ROS 2 Interfaces - Complete reference of services, topics, actions, and messages

• RViz Plugin - Interactive trajectory preview and visualization