`isaac_ros_cumotion`#

Source code available on GitHub.

Motion Generation#

The cuMotion motion generation workflow is exposed to MoveIt 2 via the isaac_ros_cumotion_moveit planning plugin. See the corresponding quickstart. In addition, this package also exposes motion generation and inverse kinematics capabilities via ROS 2 actions/services as documented below.

Launching the cuMotion action server#

The action server is provided by the component nvidia::isaac_ros::cumotion::CumotionPlanner and can be launched with:

ros2 launch isaac_ros_cumotion isaac_ros_cumotion.launch.py \
  cumotion_action_server.xrdf_file_path:=/path/to/ROBOT.xrdf \
  cumotion_action_server.urdf_file_path:=/path/to/ROBOT.urdf

API#

CumotionActionServer#

ROS Parameters#

Note

The package ships a reference configuration in isaac_ros_cumotion/params/isaac_ros_cumotion_params.yaml. When launching via isaac_ros_cumotion.launch.py, those values are used as the default launch arguments.

ROS Parameter	Type	Default	Description
`urdf_file_path`	`string`	`''`	Path to the URDF file used to build the robot model.
`xrdf_file_path`	`string`	`''`	Path to the XRDF file used to configure cuMotion (e.g., joint limits, default configuration).
`time_dilation_factor`	`double`	`0.5`	Speed scaling factor used when re-timing planned trajectories.
`interpolation_dt`	`double`	`0.025`	Interpolation time step (seconds) used when sampling planned trajectories.
`read_esdf_world`	`bool`	`false`	If true, query an ESDF from nvblox.
`update_esdf_on_request`	`bool`	`true`	Whether ESDF updates are requested when planning (in addition to initial grid setup).
`esdf_service_name`	`string`	`/nvblox_node/get_esdf_and_gradient`	nvblox ESDF query service name.
`publish_world_collision_spheres`	`bool`	`true`	If true, publish world-collision spheres on the `cumotion/collision_spheres` topic. These spheres represent the robot body used for checking collisions against the environment.
`publish_self_collision_spheres`	`bool`	`false`	If true, publish self-collision spheres on the `cumotion/collision_spheres` topic. These spheres represent the robot body used for checking collisions between the robot’s own links.
`publish_cumotion_world_as_voxels`	`bool`	`false`	If true, publish occupancy voxels for visualization.
`publish_voxel_size`	`double`	`0.05`	Voxel size (meters) used for voxel visualization.
`max_publish_voxels`	`int`	`500000`	Maximum number of voxels published for visualization.
`add_ground_plane`	`bool`	`false`	If true, add an implicit ground plane obstacle to the world.
`ground_plane_size_x`	`double`	`2.0`	Ground plane X dimension (meters).
`ground_plane_size_y`	`double`	`2.0`	Ground plane Y dimension (meters).
`ground_plane_thickness`	`double`	`0.1`	Ground plane thickness (meters).
`ground_plane_z_offset`	`double`	`-0.05`	Z offset below the robot base frame (meters).
`joint_states_topic`	`string`	`/joint_states`	Joint state topic used as the default start state.
`enable_cumotion_debug_mode`	`bool`	`false`	Enable more verbose cuMotion library logging.
`override_moveit_scaling_factors`	`bool`	`false`	If false, the node respects MoveIt’s velocity/acceleration scaling factors in the request.
`enable_cuda_mps`	`bool`	`false`	Enable CUDA Multi-Process Service (MPS) configuration for the cuMotion process.
`cuda_mps_pipe_directory`	`string`	`/workspaces/isaac_ros-dev/ros_ws/mps_pipe_dir`	CUDA MPS pipe directory used when `enable_cuda_mps` is true.
`cuda_mps_client_priority`	`int`	`0`	CUDA MPS client priority used when `enable_cuda_mps` is true.
`cuda_mps_active_thread_percentage`	`int`	`100`	CUDA MPS active thread percentage used when `enable_cuda_mps` is true.
`moveit_collision_objects_scene_file`	`string`	`''`	Optional MoveIt scene file used by the static planning scene workflow.
`static_scene_service_max_wait_attempts`	`int`	`30`	Maximum number of 1-second wait attempts for the static planning scene service to become available.
`static_planning_scene_service_name`	`string`	`publish_static_planning_scene`	Service name the node calls at startup to request static collision objects.

ROS Actions Advertised#

ROS Action	Interface	Description
`cumotion/move_group`	moveit_msgs/MoveGroup	MoveIt-compatible planning action used by the MoveIt cuMotion plugin.
`cumotion/motion_plan`	isaac_ros_cumotion_interfaces/MotionPlan	cuMotion-native goal-set motion planning action.
`cumotion/ik`	isaac_ros_cumotion_interfaces/IKSolution	Collision-free IK action (optionally using ESDF updates / AABB clearing).

ROS Services Advertised#

ROS Service	Interface	Description
`cumotion/get_robot_description`	isaac_ros_cumotion_interfaces/GetRobotDescription	Returns the currently loaded URDF/XRDF.
`cumotion/set_robot_description`	isaac_ros_cumotion_interfaces/SetRobotDescription	Updates the URDF/XRDF at runtime and re-initializes dependent components.

ROS Topics Subscribed#

ROS Topic	Interface	Description
`joint_states_topic` (default: `/joint_states`)	sensor_msgs/JointState	Robot joint state used as the default start state.

ROS Topics Published#

ROS Topic	Interface	Description
`cumotion/collision_spheres`	visualization_msgs/MarkerArray	Robot collision sphere visualization. Controlled by `publish_world_collision_spheres` and `publish_self_collision_spheres`.
`cumotion/display_trajectory`	moveit_msgs/DisplayTrajectory	Planned trajectories for RViz visualization.
`cumotion/robot_description_updated`	std_msgs/UInt64	Event-style notification when the robot description is updated.
`cumotion/voxels` (optional)	visualization_msgs/Marker	World occupancy voxels for visualization (enabled via `publish_cumotion_world_as_voxels`).

ROS Services Requested#

ROS Service	Interface	Description
`static_planning_scene_service_name` (default: `publish_static_planning_scene`)	isaac_ros_cumotion_interfaces/PublishStaticPlanningScene	Loads collision objects from a static scene source and provides them as MoveIt collision objects.
`esdf_service_name` (default: `/nvblox_node/get_esdf_and_gradient`)	nvblox_msgs/EsdfAndGradients	ESDF query service used when `read_esdf_world` is enabled.