curobo_ros

GPU-accelerated motion planning in ROS 2, powered by cuRobo v0.8.0 (v2 API).

curobo_ros wraps the CUDA core of cuRobo with a ROS 2 node, services, an action, and an RViz plugin, so you can:

• Solve IK/FK and collision-free trajectories in milliseconds on GPU

• Run closed-loop reactive control (MPC, teleoperation) with live goal retargeting

• Feed depth cameras into a shared GPU voxel world for automatic obstacle avoidance

• Stream trajectories to a real robot, an emulator, or an RViz preview — switchable at runtime

Docker images ship all dependencies (ROS 2 Jazzy, CUDA, cuRobo) for x86 and Jetson.

Documentation

• Getting Started

  • Introduction

  • Installation

  • Testing

  • Troubleshooting

• Tutorials

  • 1. Your First Trajectory

  • 2. Adding Your Robot

  • 3. Managing Collision Objects

  • 4. Robot Execution

  • 5. MPC and Reactive Control

  • 6. IK/FK Services

  • 7. Camera-Based Obstacle Detection

• Concepts

  • Package Architecture

  • Manager Architecture

  • Unified Planner

  • MPC Implementation

  • Parameters Guide

  • ROS 2 Interfaces

  • RViz Plugin

• Migration to cuRobo v2 — for developers of the wrapper itself