I attempted the Tutorial for cuMotion MoveIt Plugin with Isaac Sim example on the Jetson Thor platform.
I first launched Isaac Sim on my x86 machine, then navigated to Window > Examples > Robotics Examples > ROS2 > MOVEIT, and opened FrankaMoveIt.
RViz was successfully launched using the command franka_isaac_sim.launch.py, and the robot model was loaded correctly. However, it was never able to connect to the service /controller_manager/list_controllers.
Meanwhile, the cuMotion planner node terminated after 30 seconds because it was waiting for the service /publish_static_planning_scene, which never became available.
Here is the log from running franka_isaac_sim.launch.py,
here is the log from running cumotion_planner_node,
here is the topics of ros2 topic list,
here is the services of ros2 service list,
and here is a video showing my operation.
It appears that some configuration is missing in order for the system to run correctly. I would appreciate your assistance.
The package cuMotion is currently not working due to changes in the upstream MoveIt. We are actively working on a fix. Please be patient, and we will keep you updated as soon as the fix is released.
I take it didn’t get updated yet in isaac ros 4.1 too, right?
In Isaac Manipulation examples with cuMotion the planning always fails.
In cuMotion examples with moveit I get this output:
admin@localhost:/workspaces/isaac_ros-dev$ ros2 launch isaac_ros_cumotion isaac_ros_cumotion.launch.py cumotion_planner.robot:=$(ros2 pkg prefix --share isaac_ros_cumotion_robot_description)/xrdf/franka.xrdf cumotion_planner.urdf_path:=$(ros2 pkg prefix --share moveit_resources_panda_description)/urdf/panda.urdf
[INFO] [launch]: All log files can be found below /home/admin/.ros/log/2026-02-06-21-12-15-344639-localhost.localdomain-22255
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [static_planning_scene-1]: process started with pid [22258]
[INFO] [cumotion_goal_set_planner_node-2]: process started with pid [22259]
[static_planning_scene-1] [INFO] [1770408738.690227585] [static_planning_scene_server]: Static Planning Scene Server initialized
[cumotion_goal_set_planner_node-2] [INFO] [1770408739.341503510] [cumotion_planner]: Loading grid position and dims from grid_center_m and grid_size_m parameters.
[cumotion_goal_set_planner_node-2] [INFO] [1770408741.305888903] [cumotion_planner]: warming up cuMotion, wait until ready
[cumotion_goal_set_planner_node-2] [INFO] [1770408747.126182237] [cumotion_planner]: cuMotion is ready for planning queries!
[static_planning_scene-1] [INFO] [1770408747.127655430] [static_planning_scene_server]: No static planning scene file path provided
[cumotion_goal_set_planner_node-2] [WARN] [1770408747.184780867] [cumotion_planner]: Static planning scene service failed: No static planning scene file path provided
cuMotion package should already be updated for Isaac ROS 4.1.
The log you saw is just a warning and is harmless as long as the workflows run. It appears because the static_planning_scene_server has no static scene file configured, so when cuMotion asks it to load a static planning scene, the service returns an error that’s reported as that warning. Planning should still proceed, and you should see the planning result messages after that line.
Quick update from my side: even in 4.1 I was still unable to plan with cuMotion.
Tracking down the issue I noticed a timing issue: MoveIt reports planning success before cuMotion finishes producing the trajectory. I was consistently getting this problem in both isaac_ros_cumotion_examples (Franka tutorial) and Isaac Sim manipulator workflows.
I created a patch in my fork of isaac_ros_cumotion and now it seems to work. In Python action servers I moved goal_handle.succeed() to the end of the callback, after the result and trajectory are fully prepared. In the MoveIt C++ client I removed the send_goal_options_.result_callback path and reset plan_response for each request.
With these changes the Success -> No trajectory behavior disappeared and planning/execution now behaves as expected.