Integration Scenarios#

WMX R2 supports motion-planning backends for both robot arms (MoveIt2, Isaac cuMotion) and mobile bases (Nav2), and can be extended with custom planners and standalone applications.

Planning Backend Selection

Use the decision tree below to find the right integration for your use case, then follow the corresponding guide.

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flowchart TD
    START([" What do I need? "])

    Q0{{"Robot arm or<br/>mobile base?"}}
    Q1{{"NVIDIA GPU with<br/>CUDA available?"}}
    Q2{{"Need vision / 3D<br/>obstacle avoidance?"}}
    Q3{{"Custom planning<br/>algorithm?"}}
    Q4{{"Standalone<br/>ROS2 app?"}}

    R_NAV["**Nav2**<br/><br/>Mobile base<br/>Path planning · AMCL"]
    R_MV["**MoveIt2**<br/><br/>OMPL · CHOMP · Pilz<br/>Any hardware"]
    R_CU["**Isaac cuMotion**<br/><br/>GPU-accelerated<br/>AprilTag · NvBlox"]
    R_CP["**Custom Planner**<br/><br/>Your own algorithm<br/>MoveIt2 plugin API"]
    R_CA["**Custom App**<br/><br/>WMX services direct<br/>No MoveIt2 needed"]

    START --> Q0
    Q0 -->|"Mobile base"| R_NAV
    Q0 -->|"Robot arm"| Q1

    Q1 -->|"Yes"| Q2
    Q1 -->|"No"| Q3

    Q2 -->|"Yes"| R_CU
    Q2 -->|"No"| R_MV

    Q3 -->|"Yes"| R_CP
    Q3 -->|"No"| Q4

    Q4 -->|"Yes"| R_CA
    Q4 -->|"No"| R_MV

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    class START startNode
    class Q0,Q1,Q2,Q3,Q4 question
    class R_NAV nav
    class R_MV moveit
    class R_CU cumotion
    class R_CP custom
    class R_CA customapp

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Integration — which scenario fits your use case?#

Available integrations:

  • MoveIt2 – Standard ROS2 motion planning via FollowJointTrajectory

  • Isaac cuMotion – NVIDIA GPU-accelerated collision-aware planning

  • Nav2 – ROS2 navigation for differential-drive mobile bases, executed on the wheels via /cmd_vel_safe

  • Custom Planner – Integrate your own planning algorithm

  • Custom Application – Build standalone ROS2 apps using WMX services

  • Natural-Language and Vision Control – drive the robot with a VLM/LLM through a FastAPI service (an application layer on top of MoveIt2)