✨ Bump h12_ros2_controller: selectable OMPL/cuRobo planner backend - #6
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correll wants to merge 3 commits into
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✨ Bump h12_ros2_controller: selectable OMPL/cuRobo planner backend#6correll wants to merge 3 commits into
correll wants to merge 3 commits into
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Point the submodule at feature/curobo (78ab39e), which adds a selectable joint-space planning backend: OMPL by default, cuRobo on a CUDA GPU, with 'auto' falling back to OMPL so the headless CPU sim keeps working. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
Point the submodule at feature/curobo (509d4b6), which adds the generated cuRobo robot_cfg (collision spheres + cspace) and its generator. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
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Summary
Bumps the
h12_ros2_controllersubmodule tofeature/curobo, which makes the arm motion planner swappable between OMPL (CPU, default) and cuRobo (CUDA GPU) with automatic fallback.This is the superproject pointer-bump only. All the code, config, and the full write-up are in the submodule PR:
➡️ correlllab/h12_ros2_controller#11
Highlights (see that PR for detail):
PlannerClient—planner.backend: ompl | curobo | auto.autouses cuRobo when a CUDA GPU is present and falls back to OMPL otherwise, so the headless CPU sim (Mac/Colima) keeps working unchanged.Notes
mac-arm64-sim-port(where this branch was cut), so the diff is just the two submodule-pointer bumps.🤖 Generated with Claude Code