Cartesian Motion Base Library (CMB)

💡 What's this library?

Cartesian Motion Base 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.

🤖 Simulation

Since CMB is designed for a general manipulator control architecture, we used a popular UR5 manipulator as an example. You can easily play and test it in the docker environment.

🐳 Quick play with Docker

cd .docker
./set_display.bash
docker compose up -d
docker container exec -it cartesian_motion_sim /bin/bash
ros2 launch cartesian_motion_sim cartesian_motion_sim.launch.py

Then open a new terminal

docker container exec -it cartesian_motion_sim /bin/bash
ros2 launch cartesian_motion_test cartesian_motion_test.launch.py

Dual Arm Simulation

ros2 launch cartesian_motion_sim cartesian_motion_sim.launch.py config_type:=dual_arm

ros2 launch cartesian_motion_test cartesian_motion_dual_arm_test.launch.launch.py 

📑 Documentation

Please visit our official Cartesian Motion Base Doc for tutorials and examples.

Contributing

We welcome contributions from the community! Please see our CONTRIBUTING.md for guidelines on how to report bugs, request enhancements, and contribute code.

---

Copyright (c) 2026 Dayuan Chen / Smart Robots Design Lab, Tohoku University.