I’m currently working on controlling a UR5 robotic arm with Remote Center of Motion (RCM) constraints using ROS2. My goal is to use RCM to control the end-effector’s motion while keeping a fixed pivot point in space (e.g., for surgical applications). Current setup:

Hardware: UR5
Software: ROS2 (Humble), MoveIt2
Approach so far:
    I’ve set up MoveIt2 for motion planning.
    I’m trying to enforce the RCM constraint through inverse kinematics or by modifying the Cartesian path planner.
    I’ve looked into MoveIt’s constrained planning features but haven’t found a clear way to integrate RCM.

Thanks in advance!

Challenges I'm facing:

What’s the best way to implement RCM in ROS2? Should I modify MoveIt2's planner or use custom inverse kinematics?
Are there any existing ROS2 packages or approaches specifically for RCM constraints on robotic arms?
How can I efficiently enforce RCM constraints in real-time while maintaining smooth motion?

If anyone has experience with RCM in ROS2, I’d really appreciate any guidance, references, or example implementations!