Cartesian Motion Base

Cartesian Motion Base (CMB) is a lightweight C++ library for robot Cartesian control in ROS 2. It provides a flexible framework for motion planning, task sequencing, and real-time control.

Note

This project is currently under active development.

How-To Use This Website

• Tutorials - Step-by-step guides to get started with Cartesian Motion Base.

• Examples - Sample code demonstrating various features and use cases.

• API Reference - Detailed documentation of the library’s classes and functions.

Table Of Contents

• Tutorials
  • Getting Started
  • Simulation in Gazebo
  • Trying our Example Motion
  • Creating Your Own Motion
  • Move Your Robot
  • Real-Time Servo Control
  • Extend ROS Interface on Cartesian Motion Base
• Examples
  • Gravity Compensation Example
• C++ API Reference
  • Class Hierarchy
  • File Hierarchy
  • Full API

Developed by Dayuan Chen @ Smart Robots Design Lab, Tohoku University

To learn more about our ongoing research in robotic manipulation, human-robot interaction, and AI, visit our Lab Website.

Next let’s start with the Totirials to get hands-on experience with Cartesian Motion Base!