Integration Scenarios#

WMX ROS2 supports multiple motion planning backends and can be extended with custom planners and applications. 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? "])

    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_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 --> 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 Q1,Q2,Q3,Q4 question
    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

  • Custom Planner – Integrate your own planning algorithm

  • Custom Application – Build standalone ROS2 apps using WMX services