Concepts

Design-level documentation: how curobo_ros is structured, how its control loops work, and the normative reference for every interface and parameter.

Architecture

• Package Architecture — the three strategy families (planners, robot control, cameras) and how they compose

• Manager Architecture — the configuration layer, concurrency invariants, and observer wiring (contributor-oriented)

• Unified Planner — the planner catalog, open-loop vs closed-loop execution, runtime switching

Planning & control

• MPC Implementation — the closed-loop reactive control path (MPC and retargeting)

• Parameters Guide — every parameter with its real default and when changes take effect

Interfaces

• ROS 2 Interfaces — the complete reference of services, action, and topics

• RViz Plugin — the graphical interface and what it calls underneath