Question about integrating cuRobo with custom robot and ROS2

[AmiQuijano]

Hello!

I'm very impressed by the planning speed and trajectory smoothness of cuRobo with respect to planners such as the ones in OMPL.

I would like to use cuRobo for planning trajectories under static and dynamic environments on a custom robot and integrate it into a ROS2 system.

• How could I command a custom robot with cuRobo through ROS2? Is this supported?
• Is it possible to custom and add cost functions to optimize the trajectory to my application?
• Is it possible to visualize the robot and environment using RViz instead of Isaac Sim? Or is Isaac Sim necessary for using cuRobo?
• Finally, is it possible to have multiple motion plannings at the same time, one for a different robot (with different DoFs and different environment/obstacles)?

Thank you very much in advance.

[will-44]

Hello,
I've just send my message in #527, I think it could answer to many of your questions