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The qrb_ros_simulation package provides the simulation environment. It allows you to control the movement of QRB autonomous moving robots (AMRs) through publishing the ROS messages to the /qrb_robot_base/cmd_vel topic.
For more information, see the Simulation Sample AMR Simple Motion GitHub repo.
The following figure shows the motion control terminal next to the simulator view of the QRB AMR:
Terminal accepting AMR motion control commands beside a simulator view of the robot base moving across the floor.

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Pipeline flow for simulation_sample_amr_simple_motion

The following figure shows the pipeline of simulation_sample_amr_simple_motion:
Device-side AMR simple motion node publishing ROS messages on the cmd_vel topic to the QRB ROS simulation running on the host.

simulation_sample_amr_simple_motion pipeline.

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ROS nodes used in the simulation_sample_amr_simple_motion pipeline

The following table describes the ROS node used in the AMR simple motion pipeline.

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ROS topics used in the simulation_sample_amr_simple_motion pipeline

The following table describes the ROS topics used in the simulation_sample_amr_simple_motion pipeline.

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Prerequisite

You have set up the device, installed ROS2 Jazzy and the Qualcomm Intelligent Robotics (QIR) SDK on the device according to Install the QIR SDK.

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Run simulation_sample_amr_simple_motion

1

Build the Qualcomm robotic simulation environment on the host computer

On your host computer, complete the following to build the Qualcomm robotic simulation environment according to the README of QRB ROS Simulation.
  1. Set up development environment on Ubuntu24.04 host or Docker.
  2. Build from source.
2

Run the QRB Robot Base AMR on the host

3

Run AMR simple motion on the development kit

On the development kit, run the following commands to run AMR simple motion.

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Result

If the ROS node launches successfully, the log starting from === AMR Simple Motion Control Usage: === appears. Then, you can input the motion control commands and check the movement status of the QRB AMR within the simulator on the host.