Hello everyone,
I am a PhD student and during my research I came across a very efficient trajectory planner developed by NVIDIA: curobo. About three years ago, this planner did not have any ROS integration, so I started working on a ROS wrapper for it.
After roughly two years, NVIDIA released a basic MoveIt! integration (cumotion). However, the main goal of my package is to avoid relying on large software stacks (e.g. Isaac Sim) and instead provide a lightweight, simple, and modular ROS interface that is easy to understand and extend.
This wrapper exposes most of curobo’s features through ROS services, topics, and actions. An RViz panel is also included to easily test the main functionalities. The package has currently been tested on a Doosan M1013 (default configuration) and a UR5e.
The documentation was written with new students in our lab in mind, so it is quite detailed.
I hope this wrapper can be useful to some of you, and I would really appreciate any feedback!
GitHub repository: