[Performance] High computation latency in isaac_ros_cumotion (~13s) leading to MoveIt timeout

[SUPLAY1107]

Description:

I am experiencing significant delays when using isaac_ros_cumotion with a UR10e robot. While the planner eventually succeeds, the computation time is extremely high (over 13 seconds). This latency causes MoveIt 2 to timeout and reject the planning results, preventing successful integration and trajectory execution.

System Environment:

Hardware: AMD Ryzen Threadripper PRO 7975WX ＆ 2x NVIDIA RTX 6000 Ada

OS: Ubuntu 24.04

ROS 2 Distribution: Jazzy

Isaac ROS Version: 4.3

Robot: UR10e

Steps to Reproduce:

1. Launch the robot driver:

ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur10e robot_ip:=yyy.yyy.yyy.yyy launch_rviz:=false

2. Launch MoveIt:

isaac-ros activate
ros2 launch isaac_ros_cumotion_examples ur.launch.py ur_type:=ur10e

3.Run the cuMotion planner node:

isaac-ros activate
ros2 launch isaac_ros_cumotion isaac_ros_cumotion.launch.py \
    cumotion_planner.robot:=$(ros2 pkg prefix --share isaac_ros_cumotion_robot_description)/xrdf/ur10e.xrdf \
    cumotion_planner.urdf_path:=${ISAAC_ROS_WS}/isaac_ros_assets/urdf/ur10e.urdf

Log

admin@alan:/workspaces/isaac_ros-dev$ ros2 launch isaac_ros_cumotion isaac_ros_cumotion.launch.py cumotion_planner.robot:=${ISAAC_ROS_WS}/isaac_ros_assets/urdf/ur10e.xrdf cumotion_planner.urdf_path:=${ISAAC_ROS_WS}/isaac_ros_assets/urdf/ur10e.urdf
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2026-04-08-10-45-38-551110-alan-1506
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [static_planning_scene-1]: process started with pid [1509]
[INFO] [cumotion_goal_set_planner_node-2]: process started with pid [1510]
[static_planning_scene-1] [INFO] [1775616340.806556617] [static_planning_scene_server]: Static Planning Scene Server initialized
[cumotion_goal_set_planner_node-2] [INFO] [1775616341.236647576] [cumotion_planner]: Loading grid position and dims from grid_center_m and grid_size_m parameters.
[cumotion_goal_set_planner_node-2] [INFO] [1775616342.222505070] [cumotion_planner]: warming up cuMotion, wait until ready
[cumotion_goal_set_planner_node-2] [INFO] [1775616344.158243830] [cumotion_planner]: cuMotion is ready for planning queries!
[static_planning_scene-1] [INFO] [1775616344.159181287] [static_planning_scene_server]: No static planning scene file path provided
[cumotion_goal_set_planner_node-2] [WARN] [1775616344.175088394] [cumotion_planner]: Static planning scene service failed: No static planning scene file path provided
[cumotion_goal_set_planner_node-2] [INFO] [1775616397.856522622] [cumotion_planner]: Executing goal...
[cumotion_goal_set_planner_node-2] [INFO] [1775616397.891285380] [cumotion_planner]: Planning with time_dilation_factor: 0.1
[cumotion_goal_set_planner_node-2] [INFO] [1775616398.368017184] [cumotion_planner]: Calculating goal pose from Joint target
[cumotion_goal_set_planner_node-2] [INFO] [1775616411.838984093] [cumotion_planner]: returned planning result (query, success, failure_status): 0 True None

Calculation Duration: 13.47 seconds (from timestamp 1775616398.368 to 1775616411.838).

The Problem: Although the planner returns success: True, the computation takes too long. As a result, MoveIt 2 triggers a timeout and discards the response, making it impossible to receive the trajectory data and execute it on the robot.