Sounds like you have a bad vacuum leak or misfire. You could possibly have a faulty Mass Air Flow (MAF) sensor as well.
Per the factory service manual, some items you need to check are:
Electrical:
- Short to VPWR in harness or HO2S
- Water in harness connector
- Open/Shorted HO2S circuit
- Corrosion or poor mating terminals and wiring
- Damaged HO2S
- Damaged PCM
Fuel System:
- Excessive fuel pressure
- Leaking/contaminated fuel injectors
- Leaking fuel pressure regulator
- Low fuel pressure or running out of fuel
- Vapor recovery system
Induction System:
- Air leaks after the MAF
- Vacuum Leaks
- PCV system
- Improperly seated engine oil dipstick
EGR System:
- Leaking gasket
- Stuck EGR valve
- Leaking diaphragm or EVR
Base Engine:
- Oil overfill
- Cam timing
- Cylinder compression
- Exhaust leaks before or near the HO2S(s)
If you keep driving the truck with the issue, the new cats will be shot in no time (if they aren't already!). Did the rough idle occur after you got home, or was it already there when you put the new catalytic converters on?
-Rod