ROS2 package

[will-44]

Hello everyone,

As part of a recent project, I needed a ROS 2 package to easily interface with Curobo (huge thanks to the Curobo team for this great work!). To address that, I developed curobo_ros, a lightweight and modular package that bridges ROS 2 and Curobo.

To assist with debugging and interaction, I also created a simple RViz interface: curobo_rviz. It's still under development, and there's work to be done to make it more user-friendly and robust—but I wanted to share it with the community in case it helps others or sparks ideas.

The setup was initially designed for a Doosan robot, but I made an effort to keep it abstract and general enough for use with other platforms. Current features include interfaces for trajectory generation, object handling, inverse and forward kinematics, and robot segmentation.

I'm planning to expand it in the coming months with support for motion constraints, MPI integration, UR5 compatibility, and more.

If you have suggestions for improving the code design, or if you're interested in contributing, I’d love to hear from you!

Best,