curobo_ros

GPU-accelerated motion planning in ROS 2, powered by curobo.

curobo_ros wraps the CUDA core of curobo with ROS 2 nodes, services, messages, and an RViz plug-in, so you can:

• Solve IK/FK or whole-body trajectories in milliseconds

• Stream collision-aware paths directly to any robot controller

• Visualise everything live in RViz

A pre-built Docker image ships all dependencies (ROS 2 Humble, CUDA 12, curobo).

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Documentation

• Getting Started

  • Introduction

  • Installation

  • Troubleshooting

• Tutorials

  • 1. Your First Trajectory

  • 2. Adding Your Robot

  • 3. Managing Collision Objects

  • 4. Robot Execution & Driver Connection

  • 5. MPC Planner

  • 6. IK/FK Services

  • 7. Point Cloud Obstacle Detection

• Concepts

  • System Architecture

  • Manager Architecture

  • Unified Planner Architecture

  • Parameters Guide

  • MPC Implementation

  • ROS 2 Interfaces

  • RViz Plugin

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