Isaac ROS + Doosan ROS 2 + cuMotion Integrated Environment Setup Guide

This document describes the complete procedure to configure and build an integrated development environment combining NVIDIA Isaac ROS (Release 4.0), Jetson AGX Thor, and Doosan ROS 2 (Jazzy) for GPU-accelerated motion planning using cuMotion and MoveIt 2.

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Part 1. Environment Setup

This section describes the preparation of the Jetson platform, Isaac ROS workspace, and Doosan ROS 2 integration environment.

1.1 System Environment

Component	Version
Isaac ROS	Release 4.0
JetPack	7.0
ROS 2	Jazzy
Hardware	Jetson AGX Thor

1.2 Jetson Thor and JetPack Preparation

The following steps must be completed in order before proceeding.

1.3 Jetson Thor Flashing and JetPack Installation

Follow the official NVIDIA documentation to flash Jetson Thor and install JetPack 7.0:

https://docs.nvidia.com/jetson/agx-thor-devkit/user-guide/latest/index.html

1.3 Isaac ROS Setup for Jetson Thor

Complete the Isaac ROS environment setup for Jetson Thor using the following documentation:

https://nvidia-isaac-ros.github.io/getting_started/index.html

Important Note

For this project, the Isaac ROS workspace must be configured as follows:

export ISAAC_ROS_WS="${HOME}/workspaces/isaac_ros-dev/"

1.4 Isaac ROS Workspace Creation

mkdir -p ~/workspaces/isaac_ros-dev/src
echo 'export ISAAC_ROS_WS="${HOME}/workspaces/isaac_ros-dev/"' >> ~/.bashrc
source ~/.bashrc
cd ~/workspaces/isaac_ros-dev/src

1.5 Isaac ROS and cuMotion Source Installation (Release 4.0)

cd ~/workspaces/isaac_ros-dev/src

git clone --recurse-submodules -b release-4.0 \
https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_common.git isaac_ros_common

git clone --recurse-submodules -b release-4.0 \
https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_cumotion.git isaac_ros_cumotion

Repository	Description
isaac_ros_common	Core utilities for Docker build and environment setup
isaac_ros_cumotion	GPU-based cuMotion motion planning pipeline

All repositories must be checked out to the release-4.0 branch to ensure compatibility.

1.6 Doosan ROS 2 and cuMotion Driver Installation

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src

git clone -b jazzy https://github.com/DoosanRobotics/doosan-robot2.git
git clone -b jetson_thor https://github.com/DoosanRobotics/doosanrobotics_cumotion_driver.git

1.7 Docker-Based Isaac ROS and Doosan ROS 2 Integration

7.1 Copying the docker/ and scripts/ Directories

cp -r ~/ros2_ws/src/doosanrobotics_cumotion_driver/docker   ~/workspaces/
cp -r ~/ros2_ws/src/doosanrobotics_cumotion_driver/scripts ~/workspaces/

7.2 Expected Directory Structure

workspaces/
├── isaac_ros-dev/
├── docker/
└── scripts/

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8. Isaac ROS CLI Configuration

mkdir -p ~/workspaces/isaac_ros-dev/.isaac-ros-cli

config.yaml

environment:
  mode: docker

docker:
  image:
    additional_image_keys:
      - doosan

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9. Docker Image Layer Composition

1. noble — Base Ubuntu OS with CUDA
2. ros2_jazzy — Isaac ROS Jazzy layer
3. doosan — Doosan ROS 2 integration layer

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10. Building the Integrated Docker Image

isaac-ros activate --build-local

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11. Post-Build Automatic Procedures

• Integrated Docker image build
• Automatic container launch
• Execution of /usr/local/bin/scripts/entrypoint_additions
• Execution of 00-build-doosan.user.sh
• Full colcon build of the entire workspace

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Part 2. Launch Execution and Robot Command Interfaces

This section describes how to launch the integrated system and send motion commands.

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12. Launch Execution (Real / Virtual Modes)

12.1 Real Robot Mode

ros2 launch dsr_cumotion start_cumotion.launch.py \
  mode:=real host:=192.168.137.100 gripper:=true

12.2 Virtual Mode (Emulator / Simulation)

ros2 launch dsr_cumotion start_cumotion.launch.py \
  mode:=virtual host:=127.0.0.1 gripper:=true

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12.3 Launch Parameter Description

Parameter	Description
mode	real for physical robot, virtual for emulator
host	Controller IP or emulator host
gripper	Enables VGC10 gripper model
enable_cumotion	cuMotion planner enable flag
enable_attach	Object attachment enable flag
use_sim_time	Simulation time usage
obstacle	PlanningScene obstacle generation

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13. Motion Command Publishing (Topic Interface)

• Topic: /target_pose
• Type: dsr_cumotion_msgs/TargetPose
• Pipeline: MoveIt 2 → cuMotion → Doosan Controller

13.1 Pose (Euler)

ros2 topic pub /target_pose dsr_cumotion_msgs/TargetPose "{move_type: 'pose', x: 0.0, y: 0.0, z: 0.0, rx: 0.0, ry: 0.0, rz: 0.0, max_vel_scale: 0.5, max_acc_scale: 0.4}" --once

13.2 Pose (Quaternion)

ros2 topic pub /target_pose dsr_cumotion_msgs/TargetPose "{move_type: 'pose', x: 0.0, y: 0.0, z: 0.0, qx: 0.0, qy: 0.0, qz: 0.0, qw: 1.0, max_vel_scale: 0.8, max_acc_scale: 0.6}" --once

13.3 Joint

ros2 topic pub /target_pose dsr_cumotion_msgs/TargetPose "{move_type: 'joint', joints: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], max_vel_scale: 0.6, max_acc_scale: 0.4}" --once

13.4 Named

ros2 topic pub /target_pose dsr_cumotion_msgs/TargetPose "{move_type: 'named', name: 'HOME', max_vel_scale: 0.6, max_acc_scale: 0.5}" --once

13.5 Relative

ros2 topic pub /target_pose dsr_cumotion_msgs/TargetPose "{move_type: 'relative', dx: 0.0, dy: 0.0, dz: 0.0, drx: 0.0, dry: 0.0, drz: 0.0, max_vel_scale: 0.5, max_acc_scale: 0.5}" --once

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14. Pick and Place Service Interface

• Service: /pick_place_command
• Type: dsr_cumotion_msgs/srv/PickPlace

14.1 Pick

ros2 service call /pick_place_command dsr_cumotion_msgs/srv/PickPlace "{mode: 0, dx: 0.0, dy: 0.0, dz: -0.10, drx: 0.0, dry: 0.0, drz: 0.0, vel: 0.5, acc: 0.5, sequence: 1}"

14.2 Place

ros2 service call /pick_place_command dsr_cumotion_msgs/srv/PickPlace "{mode: 1, dx: 0.0, dy: 0.0, dz: -0.10, drx: 0.0, dry: 0.0, drz: 0.0, vel: 0.5, acc: 0.5, sequence: 1}"

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15. Simple Attach / Detach Service

# Attach
ros2 service call /attach_detach_command dsr_cumotion_msgs/srv/PickPlace "{motion_type: 0}"

# Detach
ros2 service call /attach_detach_command dsr_cumotion_msgs/srv/PickPlace "{motion_type: 1}"

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Part 3. Package Description and System Operational Notes

This section describes the core software stack, the high-level functional roles of the major packages, and the operational notes and system limitations of the Doosan + Isaac ROS + cuMotion integrated system.

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3.1 Core Software Stack

Component	Description
Doosan ROS 2	Doosan robot hardware interface
MoveIt 2	Motion planning and trajectory execution framework
cuMotion	NVIDIA GPU-accelerated motion planner
Isaac ROS	CUDA-optimized robotics middleware

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3.2 dsr_cumotion

Role: Core Integration Package for Doosan, MoveIt 2, and cuMotion

The dsr_cumotion package is the central integration layer of the system. It connects the following components into a single execution pipeline:

• Doosan ROS 2 hardware interface
• MoveIt 2 motion planning framework
• NVIDIA cuMotion planner execution
• Pick-and-place task server
• Planning scene and static obstacle management

Key Responsibilities

• Provides the main system launch entry point (start_cumotion.launch.py)

• Configures the cuMotion and MoveIt 2 planning pipelines

• Manages robot model integration

  • URDF
  • SRDF
  • XRDF

• Provides a Pick-and-Place task execution server

• Manages static obstacles using the Planning Scene

• Manages workspace boundaries (workbound)

This package directly controls the core motion planning and execution behavior of the robot.

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3.3 dsr_cumotion_goal_interface

Role: Motion Command Dispatch Interface

The dsr_cumotion_goal_interface package receives high-level user commands and acts as the command gateway that forwards them to the MoveIt 2 + cuMotion execution pipeline.

Key Responsibilities

• Subscribes to the /target_pose topic

• Selects the appropriate execution strategy based on the command type:

  • Absolute pose motion
  • Joint-space motion
  • Named pose motion
  • Relative TCP motion

• Sends motion goals to the MoveIt 2 Action Server

• Monitors execution status and feedback

• Executes commands sequentially using a multi-command queue

This package serves as the intermediate control layer between user commands and physical robot execution.

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3.4 dsr_cumotion_msgs

Role: System-Wide Message and Service Interface Definition Package

The dsr_cumotion_msgs package defines all custom ROS 2 messages and service types used throughout the system for motion and task-level control.

Key Responsibilities

• Defines the unified motion command message that supports:

  • Absolute pose commands
  • Joint commands
  • Named target commands
  • Relative TCP commands

• Defines the Pick-and-Place task control service interface, including:

  • Approach → attach → retreat sequence
  • Approach → detach → retreat sequence

• Provides the standard API contract between:

  • User applications
  • Command interface nodes
  • Planning and execution subsystems

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3.5 System Notes and Limitations

• The default supported robot model is M1013.

• To use other robot models, additional configuration is required:

  • URDF
  • SRDF
  • cuMotion XRDF

• For real robot operation, the following conditions must be satisfied:

  • The emergency stop (E-Stop) must be released
  • The network connection to the robot controller must be stable
  • The robot servo power must be enabled

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