ROS 2 Interfaces - Complete API Reference¶

Complete reference for all topics, services, actions, and parameters in curobo_ros.

Table of Contents¶

Topics
Services
Actions
Parameters

Topics¶

Publishers¶

Topic Name	Message Type	Node	Description	Frequency
`<node_name>/collision_spheres`	`visualization_msgs/MarkerArray`	unified_planner	Robot collision spheres visualization	On update

Subscribers¶

Topic Name	Message Type	Node	Description
`/camera/depth/points`	`sensor_msgs/PointCloud2`	unified_planner	Depth camera point cloud for obstacle detection
`/joint_states`	`sensor_msgs/JointState`	unified_planner	Current robot joint positions

Services¶

Motion Planning Services¶

1. `generate_trajectory` - Generate Motion Trajectory (UPDATED Dec 5, 2025)¶

Service Type: curobo_msgs/srv/TrajectoryGeneration

Purpose: Generate collision-free motion trajectory from start to target pose(s).

Request Fields:

start_pose (JointState): Starting joint configuration
target_pose (Pose): Single target end-effector pose
target_poses (Pose[]): NEW Multiple waypoints for multi-point planning
target_joint_positions (float64[]): NEW Target in joint space
trajectory_constraints (int8[]): NEW Constraints [theta_x, theta_y, theta_z, x, y, z]
trajectories_contraints (int8[]): NEW Per-waypoint constraints (flattened)

Response Fields:

success (bool): True if trajectory generated successfully
message (string): Status message
trajectory (JointState[]): NEW (Dec 5) Full trajectory returned in response
dt (float64): NEW (Dec 5) Time step between waypoints (seconds)

What’s New (Dec 5, 2025):

Trajectory now returned directly in response
Support for multi-point waypoint planning
Support for joint-space target planning
Support for trajectory constraints (rotation, translation)

ROS2 CLI Examples:

# 1. Single-point Cartesian planning (classic)
ros2 service call /unified_planner/generate_trajectory curobo_msgs/srv/TrajectoryGeneration \
  "{target_pose: {position: {x: 0.5, y: 0.3, z: 0.4}, orientation: {w: 1.0}}}"

# 2. Multi-point waypoint planning (NEW)
ros2 service call /unified_planner/generate_trajectory curobo_msgs/srv/TrajectoryGeneration \
  "{target_poses: [
    {position: {x: 0.5, y: 0.2, z: 0.4}, orientation: {w: 1.0}},
    {position: {x: 0.6, y: 0.2, z: 0.4}, orientation: {w: 1.0}},
    {position: {x: 0.7, y: 0.2, z: 0.4}, orientation: {w: 1.0}}
  ]}"

# 3. Joint-space planning (NEW)
ros2 service call /unified_planner/generate_trajectory curobo_msgs/srv/TrajectoryGeneration \
  "{target_joint_positions: [0.0, -0.5, 0.5, 0.0, 1.57, 0.0]}"

# 4. With trajectory constraints (NEW) - Constrain rotation around X
ros2 service call /unified_planner/generate_trajectory curobo_msgs/srv/TrajectoryGeneration \
  "{target_pose: {position: {x: 0.5, y: 0.3, z: 0.4}, orientation: {w: 1.0}}, \
    trajectory_constraints: [1, 0, 0, 0, 0, 0]}"

Expected Response:

success: true
message: 'Trajectory generated successfully'
trajectory:
  - position: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
    velocity: []
  - position: [0.123, -0.234, 0.345, -0.123, 0.456, 0.234]
    velocity: []
  # ... more waypoints
dt: 0.05  # 50ms between waypoints

Use Cases:

Plan collision-free motion from current pose to target
Multi-waypoint tasks (pick-and-place, inspection paths)
Joint-space motions for specific joint configurations
Constrained motions (keep orientation, move in straight line)

2. `set_planner` - Switch Planner Type (NEW Nov 9, 2025)¶

Service Type: curobo_msgs/srv/SetPlanner

Purpose: Dynamically switch between different planning algorithms at runtime.

Request Fields:

planner_type (uint8): Planner type constant

Planner Type Constants:

Constant	Value	Planner Type	Description
CLASSIC	0	Classic motion planning	Open-loop, single-shot planning for static environments
MPC	1	Model Predictive Control	Closed-loop, reactive planning for dynamic obstacles
MULTIPOINT	4	Multi-point planning	Waypoint-based planning (includes constrained planning)
JOINT_SPACE	5	Joint-space planning	Plan in joint space (not Cartesian)

Note: BATCH (2) and CONSTRAINED (3) planner types are not implemented. Constrained planning is included in MULTIPOINT and CLASSIC planners.

Response Fields:

success (bool): True if planner switched successfully
message (string): Status message
previous_planner (string): Name of previous planner
current_planner (string): Name of active planner

ROS2 CLI Examples:

# Switch to MPC planner
ros2 service call /unified_planner/set_planner curobo_msgs/srv/SetPlanner "{planner_type: 1}"

# Switch to classic planner
ros2 service call /unified_planner/set_planner curobo_msgs/srv/SetPlanner "{planner_type: 0}"

# Switch to multi-point planner
ros2 service call /unified_planner/set_planner curobo_msgs/srv/SetPlanner "{planner_type: 4}"

Expected Response:

success: true
message: 'Planner switched successfully'
previous_planner: 'ClassicPlanner'
current_planner: 'MPCPlanner'

Use Cases:

Switch to MPC for dynamic environments with moving obstacles
Use MULTIPOINT for tasks requiring specific waypoints
Use JOINT_SPACE for direct joint control

Collision Management Services¶

3. `add_object` - Add Collision Object¶

Service Type: curobo_msgs/srv/AddObject

Purpose: Add obstacle to the collision scene.

Request Fields:

name (string): Unique object identifier
type (int8): 0=CUBOID, 1=SPHERE, 2=CAPSULE, 3=CYLINDER, 4=MESH
dimensions (Vector3): Object dimensions — for cuboid: {x, y, z} full extents; for sphere: {x: radius}; for cylinder/capsule: {x: radius, z: height}
pose (Pose): Object pose in base frame
mesh_file_path (string): Absolute path to mesh file (for MESH type only)
color (ColorRGBA): Optional visualization color

Response Fields:

success (bool): True if object added
message (string): Status message including world state counts, e.g. "Object 'table' added successfully (3 cuboids, 0 mesh in world)"

ROS2 CLI Examples:

# Add cuboid (table)
ros2 service call /unified_planner/add_object curobo_msgs/srv/AddObject \
  "{name: 'table', type: 0, dimensions: {x: 1.0, y: 0.8, z: 0.05}, \
    pose: {position: {x: 0.5, y: 0.0, z: 0.0}, orientation: {w: 1.0}}}"

# Add sphere (ball)
ros2 service call /unified_planner/add_object curobo_msgs/srv/AddObject \
  "{name: 'ball', type: 1, dimensions: {x: 0.1}, \
    pose: {position: {x: 0.4, y: 0.2, z: 0.3}, orientation: {w: 1.0}}}"

# Add cylinder (pole)
ros2 service call /unified_planner/add_object curobo_msgs/srv/AddObject \
  "{name: 'pole', type: 3, dimensions: {x: 0.05, z: 1.0}, \
    pose: {position: {x: 0.3, y: 0.3, z: 0.5}, orientation: {w: 1.0}}}"

Important Note - Mesh Handling:

When adding a MESH object, curobo internally voxelizes the mesh into oriented bounding boxes (OBBs) for the BLOX collision checker. Both the original mesh and the derived cuboids are stored in the world configuration.

Implications:

Collision cache: Increase the cuboid (OBB) cache size before adding a mesh — the number of derived cuboids depends on mesh complexity
Naming convention: Each derived cuboid is named {mesh_name}_cuboid_{idx} and tracked internally for cleanup
Cache sizing: Set the cache before calling update_motion_gen_config, then add the mesh

Example with mesh:

# 1. Set cache to accommodate derived cuboids (check mesh complexity first)
ros2 service call /unified_planner/set_collision_cache \
  curobo_msgs/srv/SetCollisionCache "{obb: 200, mesh: 1, blox: -1}"

# 2. Apply the cache change
ros2 service call /unified_planner/update_motion_gen_config std_srvs/srv/Trigger

# 3. Add mesh object
ros2 service call /unified_planner/add_object curobo_msgs/srv/AddObject \
  "{name: 'part', type: 4, mesh_file_path: '/path/to/mesh.stl', \
    pose: {position: {x: 0.5, y: 0.0, z: 0.3}, orientation: {w: 1.0}}}"

4. `remove_object` - Remove Collision Object¶

Service Type: curobo_msgs/srv/RemoveObject

Purpose: Remove specific obstacle from scene.

Request Fields:

name (string): Object name to remove

Response Fields:

success (bool): True if removed
message (string): Status message

ROS2 CLI Example:

ros2 service call /unified_planner/remove_object curobo_msgs/srv/RemoveObject "{name: 'table'}"

5. `get_obstacles` - List All Obstacles¶

Service Type: std_srvs/srv/Trigger

Purpose: Retrieve list of all current obstacles in the scene.

ROS2 CLI Example:

ros2 service call /unified_planner/get_obstacles std_srvs/srv/Trigger

Expected Response:

success: true
message: 'Obstacles: table, ball, pole'

6. `remove_all_objects` - Clear All Obstacles¶

Service Type: std_srvs/srv/Trigger

Purpose: Remove all obstacles from the scene.

ROS2 CLI Example:

ros2 service call /unified_planner/remove_all_objects std_srvs/srv/Trigger

7. `get_voxel_grid` - Get Voxelized Environment¶

Service Type: curobo_msgs/srv/GetVoxelGrid

Purpose: Retrieve voxelized representation of current collision scene.

Response Fields:

success (bool)
message (string)
voxel_grid (PointCloud2): Occupied voxels as point cloud

ROS2 CLI Example:

ros2 service call /unified_planner/get_voxel_grid curobo_msgs/srv/GetVoxelGrid

Important Note: The voxel area is currently a hardcoded cube of 1.52m centered on the robot base. Obstacles outside this region will not appear in the voxel grid.

Use Cases:

Visualize collision voxels in RViz (within 1.52m cube)
Debug collision checking
Export scene representation

8. `get_collision_distance` - Query Collision Distances¶

Service Type: curobo_msgs/srv/GetCollisionDistance

Purpose: Compute distances to nearest obstacles for a given robot configuration.

Request Fields:

joint_state (JointState): Robot joint configuration

Response Fields:

success (bool)
message (string)
distances (float64[]): Distance per collision sphere (meters)
- Positive value: Distance to nearest obstacle (meters)
- Negative value: Sphere is in collision (penetration depth)
in_collision (bool): True if any collision detected

ROS2 CLI Example:

ros2 service call /unified_planner/get_collision_distance curobo_msgs/srv/GetCollisionDistance \
  "{joint_state: {position: [0.0, -0.5, 0.5, 0.0, 1.57, 0.0]}}"

Expected Response:

success: true
message: 'Collision distances computed'
distances: [0.05, 0.12, -0.02, 0.15, 0.25, 0.30, 0.18]  # Third sphere in collision (-0.02m penetration)
in_collision: true

Interpretation:

distances: [0.05, 0.12, -0.02, ...]: Third sphere has -0.02m distance (in collision)
in_collision: true: At least one sphere is in collision

9. `set_collision_cache` - Configure Collision Cache (NEW Dec 12, 2025)¶

Service Type: curobo_msgs/srv/SetCollisionCache

Purpose: Dynamically configure collision cache sizes to optimize GPU memory usage.

Request Fields:

obb (int32): OBB cache size (-1 = don’t modify)
mesh (int32): Mesh cache size (-1 = don’t modify)
blox (int32): Voxel cache size (-1 = don’t modify)

Response Fields:

success (bool): True if cache updated
message (string): Status message
obb_cache (int32): Current OBB cache size
mesh_cache (int32): Current mesh cache size
blox_cache (int32): Current voxel cache size

IMPORTANT: After modifying collision cache parameters, you must call update_motion_gen_config service to apply the changes.

ROS2 CLI Examples:

# Increase mesh cache for complex scenes
ros2 service call /unified_planner/set_collision_cache \
  curobo_msgs/srv/SetCollisionCache "{obb: -1, mesh: 50, blox: -1}"

# REQUIRED: Apply the changes
ros2 service call /unified_planner/update_motion_gen_config std_srvs/srv/Trigger

# Query current cache sizes (without modifying)
ros2 service call /unified_planner/set_collision_cache \
  curobo_msgs/srv/SetCollisionCache "{obb: -1, mesh: -1, blox: -1}"

Expected Response:

success: true
message: 'Collision cache updated successfully'
obb_cache: 100
mesh_cache: 50
blox_cache: 10

Use Cases:

Optimize memory for scenes with many mesh objects (increase OBB cache)
Adjust cache for point cloud environments (increase blox cache)
Balance memory usage vs performance

Kinematics Services¶

IK and FK solvers are lazy-initialized — they must be warmed up before use. Both live on the same node as the trajectory planner and share the same robot configuration.

Important: Always call warmup_ik or warmup_fk before the first IK/FK service call. If the node is restarted, warmup must be called again.

10. `warmup_ik` - Initialize IK Solver¶

Service Type: curobo_msgs/srv/WarmupIK

Purpose: Create and warm up the IK solver for a given batch size. Must be called before any ik or ik_batch call.

Request Fields:

batch_size (int32): Number of poses to solve simultaneously (default: 1)

Response Fields:

success (bool): True if solver initialized successfully
message (string): Status message

ROS2 CLI Example:

ros2 service call /unified_planner/warmup_ik curobo_msgs/srv/WarmupIK "{batch_size: 1}"

Notes:

The IK solver shares the obstacle world with MotionGen — obstacle changes are propagated automatically
If ik_batch is called with a different number of poses than the warmup batch_size, the solver reinitializes automatically (slower first call)
For batch workloads, warmup with the exact batch size you intend to use

11. `warmup_fk` - Initialize FK Model¶

Service Type: curobo_msgs/srv/WarmupFK

Purpose: Create and warm up the FK model for a given batch size. Must be called before any fk call.

Request Fields:

batch_size (int32): Expected number of joint states per call (default: 1)

Response Fields:

success (bool): True if model initialized successfully
message (string): Status message

ROS2 CLI Example:

ros2 service call /unified_planner/warmup_fk curobo_msgs/srv/WarmupFK "{batch_size: 1}"

Notes:

FK has no obstacle dependency — it depends only on the robot’s kinematic model (URDF)
Unlike IK, FK does not need to reinitialize when batch size changes
No update_world propagation for FK (purely geometric computation)

12. `ik` - Single Pose Inverse Kinematics¶

Service Type: curobo_msgs/srv/Ik

Purpose: Compute a joint configuration for a single target end-effector pose.

Request Fields:

pose (Pose): Target end-effector pose

Response Fields:

success (bool): True if a valid solution was found
joint_states (JointState): IK solution
joint_states_valid (Bool): Validity flag for the solution
error_msg (String): Error message if failed

ROS2 CLI Example:

ros2 service call /unified_planner/ik curobo_msgs/srv/Ik \
  "{pose: {position: {x: 0.5, y: 0.3, z: 0.4}, orientation: {w: 1.0}}}"

13. `ik_batch` - Batch Inverse Kinematics¶

Service Type: curobo_msgs/srv/IkBatch

Purpose: Compute joint configurations for multiple target poses simultaneously.

Request Fields:

poses (Pose[]): List of target end-effector poses

Response Fields:

success (bool): True if at least one solution was found
joint_states (JointState[]): IK solutions (one per input pose)
joint_states_valid (Bool[]): Validity flag per solution
error_msg (String): Error message if batch failed

ROS2 CLI Example:

ros2 service call /unified_planner/ik_batch curobo_msgs/srv/IkBatch \
  "{poses: [
    {position: {x: 0.5, y: 0.3, z: 0.4}, orientation: {w: 1.0}},
    {position: {x: 0.4, y: 0.2, z: 0.5}, orientation: {w: 1.0}}
  ]}"

14. `fk` - Forward Kinematics¶

Service Type: curobo_msgs/srv/Fk

Purpose: Compute end-effector poses for a list of joint configurations.

Request Fields:

joint_states (JointState[]): List of joint configurations

Response Fields:

poses (Pose[]): Computed end-effector poses (one per input joint state)

ROS2 CLI Example:

ros2 service call /unified_planner/fk curobo_msgs/srv/Fk \
  "{joint_states: [{position: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]}]}"

See Also: Tutorial 6: IK/FK Services

Configuration Services¶

15. `update_motion_gen_config` - Reload Configuration¶

Service Type: std_srvs/srv/Trigger

Purpose: Reload motion generation configuration to apply parameter changes.

When to Use: This service must be called after modifying:

voxel_size parameter
collision_activation_distance parameter
Collision cache sizes (via set_collision_cache service)

ROS2 CLI Example:

# Modify parameter
ros2 param set /unified_planner voxel_size 0.08

# REQUIRED: Apply the change
ros2 service call /unified_planner/update_motion_gen_config std_srvs/srv/Trigger

Use Cases:

Apply parameter changes without restarting node
Reload collision cache configuration
Update voxel size or collision distance settings

Internal/Advanced Services¶

16. `scene_generator`, `generate_rm`, `collisions`¶

These services are for internal testing and advanced use cases. See source code for details.

Actions¶

1. `send_trajectory` - Execute Planned Trajectory¶

Action Type: curobo_msgs/action/SendTrajectory

Purpose: Execute a planned trajectory with real-time feedback.

Goal Fields:

trajectory (JointTrajectory): Trajectory to execute

Feedback Fields:

current_joint_state (JointState): Current joint positions
progress (float32): Execution progress [0.0 - 1.0]

Result Fields:

success (bool): True if execution completed
message (string): Status message

ROS2 CLI Example:

# Send trajectory action goal
ros2 action send_goal /unified_planner/send_trajectory curobo_msgs/action/SendTrajectory \
  "{trajectory: {...}}" \
  --feedback

Use Case: Execute trajectory generated by generate_trajectory service.

2. `mpc_move` - MPC Closed-Loop Control (NEW Nov 9, 2025)¶

Action Type: curobo_msgs/action/MpcMove

Purpose: Closed-loop MPC control with continuous replanning to reach target pose.

Goal Fields:

target_pose (Pose): Desired end-effector pose

Feedback Fields:

joint_command (JointState): Current joint command being executed
step_progression (float32): Progress toward goal [0.0 - 1.0]

Result Fields:

success (bool): True if target reached
message (string): Status message

Behavior:

Continuously replans at configurable frequency (default: 100 Hz)
Automatically avoids dynamic obstacles
Converges when within threshold (default: 0.01m)
Can be canceled mid-execution

ROS2 CLI Examples:

# Send MPC move goal with feedback
ros2 action send_goal /unified_planner/mpc_move curobo_msgs/action/MpcMove \
  "{target_pose: {position: {x: 0.5, y: 0.3, z: 0.4}, orientation: {w: 1.0}}}" \
  --feedback

# Cancel active MPC move
ros2 action cancel_goal /unified_planner/mpc_move <goal_id>

# Check MPC action status
ros2 action list
ros2 action info /unified_planner/mpc_move

Feedback Output:

Feedback:
  step_progression: 0.15
Feedback:
  step_progression: 0.32
Feedback:
  step_progression: 0.58
...
Result:
  success: true
  message: 'Target reached successfully'

Use Cases:

Reactive control in dynamic environments
Tracking moving targets
Real-time obstacle avoidance
Tasks requiring continuous replanning

See Also: Tutorial 5: MPC Planner

Parameters¶

Core Motion Planning Parameters¶

Parameter	Type	Default	Description	Runtime Modifiable
`voxel_size`	float	0.05	Collision voxel size (meters)	Yes (requires update_motion_gen_config)
`time_dilation_factor`	float	0.5	Trajectory speed multiplier [0.0-1.0]	Yes (via rosparam)
`max_attempts`	int	1	Planning retry attempts	Yes (via rosparam)
`timeout`	float	5.0	Planning timeout (seconds)	Yes (via rosparam)
`collision_activation_distance`	float	0.025	Collision threshold (meters)	Yes (requires update_motion_gen_config)

Example - Modify voxel_size:

# Set new voxel size
ros2 param set /unified_planner voxel_size 0.08

# REQUIRED: Apply the change
ros2 service call /unified_planner/update_motion_gen_config std_srvs/srv/Trigger

Example - Modify collision_activation_distance:

# Set new collision distance
ros2 param set /unified_planner collision_activation_distance 0.03

# REQUIRED: Apply the change
ros2 service call /unified_planner/update_motion_gen_config std_srvs/srv/Trigger

Robot Configuration Parameters¶

Parameter	Type	Default	Description	Runtime Modifiable
`robot_config_file`	string	m1013.yml	Robot configuration YAML path	No (launch only)
`base_link`	string	base_0	Robot base frame name	No (launch only)
`world_file`	string	‘’	Initial world obstacles YAML	No (launch only)

Collision Cache Parameters (NEW Dec 12, 2025)¶

Parameter	Type	Default	Description	Runtime Modifiable
`obb_cache_size`	int	100	OBB cache size	Yes (via service or rosparam + update_motion_gen_config)
`mesh_cache_size`	int	10	Mesh cache size	Yes (via service or rosparam + update_motion_gen_config)
`blox_cache_size`	int	10	Voxel cache size	Yes (via service or rosparam + update_motion_gen_config)

Important: Collision cache parameters can be modified via:

set_collision_cache service (recommended)
ROS parameters (via ros2 param set)

Both methods require calling update_motion_gen_config service to apply changes.

Example - Via service:

# Modify via service
ros2 service call /unified_planner/set_collision_cache \
  curobo_msgs/srv/SetCollisionCache "{obb: 200, mesh: -1, blox: -1}"

# REQUIRED: Apply the changes
ros2 service call /unified_planner/update_motion_gen_config std_srvs/srv/Trigger

Example - Via ROS parameters:

# Modify via parameter
ros2 param set /unified_planner obb_cache_size 200

# REQUIRED: Apply the change
ros2 service call /unified_planner/update_motion_gen_config std_srvs/srv/Trigger

MPC Parameters (Nov-Dec 2025)¶

Parameter	Type	Default	Description	Runtime Modifiable
`mpc_convergence_threshold`	float	0.01	MPC goal threshold (meters)	Yes
`mpc_max_iterations`	int	1000	Max MPC iterations	Yes
`mpc_horizon`	int	10	MPC planning horizon	Yes
`mpc_control_frequency`	int	100	MPC replan rate (Hz)	Yes

Example - Modify MPC parameters:

ros2 param set /unified_planner mpc_control_frequency 150
ros2 param set /unified_planner mpc_convergence_threshold 0.005

Camera Parameters¶

Parameter	Type	Default	Description
`cameras_config_file`	string	‘’	Camera configuration YAML
`camera_topic`	string	/camera/depth/points	Point cloud topic
`downsample_voxel_size`	float	0.01	Point cloud filter size

Service Call Patterns¶

Pattern 1: Plan and Execute¶

# 1. Generate trajectory
ros2 service call /unified_planner/generate_trajectory curobo_msgs/srv/TrajectoryGeneration \
  "{target_pose: {position: {x: 0.5, y: 0.3, z: 0.4}, orientation: {w: 1.0}}}"

# 2. Execute trajectory (if success)
ros2 action send_goal /unified_planner/send_trajectory curobo_msgs/action/SendTrajectory \
  "{trajectory: {...}}"

Pattern 2: Dynamic Environment Workflow¶

# 1. Switch to MPC planner
ros2 service call /unified_planner/set_planner curobo_msgs/srv/SetPlanner "{planner_type: 1}"

# 2. Use MPC action for reactive control
ros2 action send_goal /unified_planner/mpc_move curobo_msgs/action/MpcMove \
  "{target_pose: {position: {x: 0.5, y: 0.3, z: 0.4}, orientation: {w: 1.0}}}" \
  --feedback

Pattern 3: Collision Scene Setup¶

# 1. Clear existing obstacles
ros2 service call /unified_planner/remove_all_objects std_srvs/srv/Trigger

# 2. Add new obstacles
ros2 service call /unified_planner/add_object curobo_msgs/srv/AddObject "{name: 'table', ...}"
ros2 service call /unified_planner/add_object curobo_msgs/srv/AddObject "{name: 'wall', ...}"

# 3. Verify obstacles
ros2 service call /unified_planner/get_obstacles std_srvs/srv/Trigger

# 4. Plan trajectory (will avoid obstacles)
ros2 service call /unified_planner/generate_trajectory curobo_msgs/srv/TrajectoryGeneration "{...}"

Pattern 4: Parameter Update Workflow¶

# 1. Modify parameters
ros2 param set /unified_planner voxel_size 0.08
ros2 service call /unified_planner/set_collision_cache \
  curobo_msgs/srv/SetCollisionCache "{obb: 200, mesh: -1, blox: -1}"

# 2. REQUIRED: Apply all changes
ros2 service call /unified_planner/update_motion_gen_config std_srvs/srv/Trigger

# 3. Verify changes applied
ros2 param get /unified_planner voxel_size

Version History¶

December 15, 2025¶

Removed collision checker type switch

December 12, 2025¶

Added set_collision_cache service for dynamic cache configuration

December 5, 2025¶

Updated generate_trajectory service to return trajectory in response
Added trajectory constraints support
Added joint-space planning support

November 27, 2025¶

Added multi-point waypoint support to generate_trajectory

November 9, 2025¶

Added set_planner service for runtime planner switching
Added mpc_move action for closed-loop MPC control

ROS 2 Interfaces - Complete API Reference¶

Table of Contents¶

Topics¶

Publishers¶

Subscribers¶

Services¶

Motion Planning Services¶

1. generate_trajectory - Generate Motion Trajectory (UPDATED Dec 5, 2025)¶

2. set_planner - Switch Planner Type (NEW Nov 9, 2025)¶

Collision Management Services¶

3. add_object - Add Collision Object¶

4. remove_object - Remove Collision Object¶

5. get_obstacles - List All Obstacles¶

6. remove_all_objects - Clear All Obstacles¶

7. get_voxel_grid - Get Voxelized Environment¶

8. get_collision_distance - Query Collision Distances¶

9. set_collision_cache - Configure Collision Cache (NEW Dec 12, 2025)¶

Kinematics Services¶

10. warmup_ik - Initialize IK Solver¶

11. warmup_fk - Initialize FK Model¶

12. ik - Single Pose Inverse Kinematics¶

13. ik_batch - Batch Inverse Kinematics¶

14. fk - Forward Kinematics¶

Configuration Services¶

15. update_motion_gen_config - Reload Configuration¶

Internal/Advanced Services¶

16. scene_generator, generate_rm, collisions¶

Actions¶

1. send_trajectory - Execute Planned Trajectory¶

2. mpc_move - MPC Closed-Loop Control (NEW Nov 9, 2025)¶

Parameters¶

Core Motion Planning Parameters¶

Robot Configuration Parameters¶

Collision Cache Parameters (NEW Dec 12, 2025)¶

MPC Parameters (Nov-Dec 2025)¶

Camera Parameters¶

Service Call Patterns¶

Pattern 1: Plan and Execute¶

Pattern 2: Dynamic Environment Workflow¶

Pattern 3: Collision Scene Setup¶

Pattern 4: Parameter Update Workflow¶

Version History¶

December 15, 2025¶

December 12, 2025¶

December 5, 2025¶

November 27, 2025¶

November 9, 2025¶

Related Documentation¶

1. `generate_trajectory` - Generate Motion Trajectory (UPDATED Dec 5, 2025)¶

2. `set_planner` - Switch Planner Type (NEW Nov 9, 2025)¶

3. `add_object` - Add Collision Object¶

4. `remove_object` - Remove Collision Object¶

5. `get_obstacles` - List All Obstacles¶

6. `remove_all_objects` - Clear All Obstacles¶

7. `get_voxel_grid` - Get Voxelized Environment¶

8. `get_collision_distance` - Query Collision Distances¶

9. `set_collision_cache` - Configure Collision Cache (NEW Dec 12, 2025)¶

10. `warmup_ik` - Initialize IK Solver¶

11. `warmup_fk` - Initialize FK Model¶

12. `ik` - Single Pose Inverse Kinematics¶

13. `ik_batch` - Batch Inverse Kinematics¶

14. `fk` - Forward Kinematics¶

15. `update_motion_gen_config` - Reload Configuration¶

16. `scene_generator`, `generate_rm`, `collisions`¶

1. `send_trajectory` - Execute Planned Trajectory¶

2. `mpc_move` - MPC Closed-Loop Control (NEW Nov 9, 2025)¶