Supports only ROS2 humble and later versions
Crospi is a ROS2 pipeline that allows developers to easily define reactive robot behaviors through high-level constraint-based task specifications. It represents a new generation of our software stack, building upon earlier frameworks such as iTaSC and eTaSL, and consolidating mature capabilities that were previously developed within Orocos-based systems. By leveraging real-time sensor-driven control, Crospi enables robots to continuously adapt to uncertainty and environmental changes, moving beyond traditional sense–plan–act paradigms toward fully reactive control strategies. Unlike motion-planning frameworks such as MoveIt, which focus on the sense-plan-act paradigm, producing collision-free trajectories, Crospi emphasizes continuous feedback and constraint satisfaction during execution, enabling truly reactive, sensor-driven behaviors. Crospi also provides smart tools that enable developers to create libraries that can be easily shared with other developers and orchestrated into complex applications.
Ready to get started? Our documentation website has everything you need:
- Getting Started — installation, running examples, and your first application.
- Tutorials — step-by-step guides for developing task specifications, skills, and applications.
- API Reference — detailed documentation for developers.
- Glossary — definitions of all key terms.
Whether you are writing your first eTaSL task specification or building a multi-skill robotic application, the documentation walks you through every layer of the Crospi stack.
If you use Crospi in your research, please cite:
@misc{iregui2026crospi,
author = {Iregui, Santiago and Ulloa, Federico and Aertbeli\"{e}n, Erwin},
title = {Crospi: an open-source Constraint-based Reactive and Orchestrated Sensor-driven PIpeline for robot control},
howpublished = "\url{https://github.com/Robotics-Research-Group-KUL/crospi}",
year = {2026}
}
Published under the GNU LESSER GENERAL PUBLIC LICENSE Version 3, 29 June 2007.
This work was funded by the European Union’s Horizon 2020 research and innovation program
under the grant agreement No. 101058589 ( AI-Prism)
(c) 2025, KU Leuven, Department of Mechanical Engineering, ROB-Group: