Control AMR in the simulator with simulation_sample_amr_simple_motion

simulation_sample_amr_simple_motion is a simulated sample application that uses a Python-based ROS node to control the movements of QRB autonomous moving robots (AMRs) within the simulator. The QRB ROS Simulation package provides the simulation environment. It allows you to control the movement of QRB AMRs through publishing the ROS messages to the /qrb_robot_base/cmd_vel topic.

NoteFor more information, see simulation_sample_amr_simple_motion on GitHub.

Figure: Sample effects of simulation_sample_amr_simple_motion

Pipeline flow for `simulation_sample_amr_simple_motion`

Figure: Pipeline flow for simulation_sample_amr_simple_motion

ROS nodes used in the `simulation_sample_amr_simple_motion` pipeline

ROS node	Description
`qrb_ros_simulation`	`qrb ros simulation` is a ROS package that sets up the Qualcomm robotic simulation environment. For details, see QRB ROS Simulation.

ROS topics used in the `simulation_sample_amr_simple_motion` pipeline

ROS topic	Type	Published by	Description
`/qrb_robot_base/cmd_vel`	`geometry_msgs::msg::Twist`	`simulation_sample_amr_simple_motion`	Indicates the velocity commands for robot movement.

Prerequisites

You have completed the following settings in Set up the environment for running sample applications (Skip the settings of Set up host docker).

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Set up the device
Set up the host computer

Set up the simulation environment

Build the simulation environment on your host computer

Complete the following according to the README of QRB ROS Simulation. Ensure that the device and the host are on the same local network and can communicate with each other through ROS communication.

Set up development environment on Ubuntu24.04 host or Docker.
Build from source.

Run the QRB Robot Base AMR on the host

# Set the ROS_DOMAIN_ID
export ROS_DOMAIN_ID=123
ros2 launch qrb_ros_sim_gazebo gazebo_robot_base.launch.py namespace:=qrb_robot_base enable_laser:=false

Run out-of-the-box `simulation_sample_amr_simple_motion`

On the development kit, run the following commands:

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# setup runtime environment
source /usr/share/qirp-setup.sh

# Set the ROS_DOMAIN_ID
export ROS_DOMAIN_ID=123

ros2 run simulation_sample_amr_simple_motion simple_motion

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 computer.

Build and run `simulation_sample_amr_simple_motion`

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Note

<qir_version>: Version of the QIR SDK, see QIR SDK 2.0 Release Notes.
<qir_decompressed_path>: The path where the QIR SDK is decompressed.

Build and package on the host computer

Build the sample application project.

# Set up the QIR SDK  environment
cd <decompressed_workspace>/images/iq-9075-evk/qirpsdk_artifacts/iq-9075-evk
tar -zxf qirp-sdk_<qir_version>.tar.gz
cd <qir_decompressed_path>/qirp-sdk
source setup.sh
# build sample
cd <qir_decompressed_path>/qirp-sdk/qirp-samples/robotics/simulation_sample_amr_simple_motion
colcon build

Package and push the sample application to the device.

# package and push build result of sample
cd <qir_decompressed_path>/qirp-sdk/qirp-samples/robotics/simulation_sample_amr_simple_motion/install/simulation_sample_amr_simple_motion
tar -czf simulation_sample_amr_simple_motion.tar.gz lib share
scp simulation_sample_amr_simple_motion.tar.gz root@[ip-addr]:/opt/

Install and run on the development kit

Install the sample application.

SSH Session

# Install sample package
tar --no-overwrite-dir --no-same-owner -zxf /opt/simulation_sample_amr_simple_motion.tar.gz -C /usr/ros/jazzy/

Run the sample application with the steps in Run out-of-the-box simulation_sample_amr_simple_motion.

​Pipeline flow for simulation_sample_amr_simple_motion

​ROS nodes used in the simulation_sample_amr_simple_motion pipeline

​ROS topics used in the simulation_sample_amr_simple_motion pipeline

​Prerequisites

​Set up the simulation environment

​Run out-of-the-box simulation_sample_amr_simple_motion

​Build and run simulation_sample_amr_simple_motion

Pipeline flow for `simulation_sample_amr_simple_motion`

ROS nodes used in the `simulation_sample_amr_simple_motion` pipeline

ROS topics used in the `simulation_sample_amr_simple_motion` pipeline

Prerequisites

Set up the simulation environment

Run out-of-the-box `simulation_sample_amr_simple_motion`

Build and run `simulation_sample_amr_simple_motion`