Yes, it comes directly from the latin pulchritudo which my dictionary gives as "beauty, excellence" and which is quite common in Latin texts.

To me, pulchritude is such an ugly sounding word I can always remember the meaning as being the opposite of how it sounds.

(Funny enough, I was just looking up to see if there is a name for words that sound opposite to their meaning and found this [0] discussion on the English stack exchange, which gives pulchritude as its example!)

[0] https://english.stackexchange.com/questions/103741/name-for-...