Enable pick-and-place in the simulator with simulation_sample_pick_and_place

This pick-and-place simulated sample application uses the C++ based robotic manipulation ROS 2 node simulation_sample_pick_and_place to demonstrate autonomous pick-and-place operations using MoveIt2 for motion planning and Gazebo for physics simulation.

NoteFor more information, see simulation_sample_pick_and_place on GitHub.

Figure: Sample effects of simulation_sample_pick_and_place

Pipeline flow for `simulation_sample_pick_and_place`

ROS nodes used in the `simulation_sample_pick_and_place` pipeline

ROS node	Description
`qrb_ros_simulation`	A ROS package that sets up the Qualcomm robotic simulation environment. For details, see QRB ROS Simulation.
`simulation_sample_pick_and_place`	Source code for pick-and-place.
`moveit_ros_move_group`	A ROS package that provides the MoveIt ROS MoveGroup interface. For details, see MoveIt MoveGroup.

ROS topics used in the `simulation_sample_pick_and_place` pipeline

ROS Topics	Type	Description
`/joint_states`	`sensor_msgs/msg/JointState`	Real-time data for all robot joints control information.
`/hand_controller/controller_state`	`control_msgs.msg.ControllerState`	Current state and status information of the gripper controller.
`/rm_group_controller/controller_state`	`control_msgs.msg.ControllerState`	Current state and status information of the robotic arm controller.
`/robot_description`	`std_msgs.msg.String`	URDF robot description in XML format for robot modeling and visualization.
`/robot_description_semantic`	`std_msgs.msg.String`	SRDF semantic robot description for MoveIt planning and configuration.

Prerequisites

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You have completed the following settings in Set up the environment for running sample applications.

Set up the device
Set up the host docker

Set up the simulation environment

Build the simulation environment on your host computer

Complete the following to build the Qualcomm robotic simulation environment 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.

Launch the Gazebo simulation environment

Run the qrb ros simulation on the host. Open a terminal and run the following commands to launch the Gazebo simulation environment:

SSH Session

# Set the ROS_DOMAIN_ID
source install/setup.sh
export ROS_DOMAIN_ID=55
ros2 launch qrb_ros_sim_gazebo gazebo_rml_63_gripper.launch.py world_model:=warehouse initial_x:=2.2 initial_y:=-2 initial_z:=1.025 initial_yaw:=3.14159 initial_pitch:=0.0 initial_roll:=0.0 use_sim_time:=true

Launch the controller manager

Select the Play button in Gazebo to start the simulation, and then open another terminal and run the following commands to launch the controller manager:

SSH Session

# Set the ROS_DOMAIN_ID
source install/setup.sh
export ROS_DOMAIN_ID=55
ros2 launch qrb_ros_sim_gazebo gazebo_rml_63_gripper_load_controller.launch.py

Run out-of-the-box `simulation_sample_pick_and_place`

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Launch the moveit ROS move group

On the development kit, open a terminal and run the following commands:

SSH Session

# setup runtime environment
source /usr/share/qirp-setup.sh
# Set the ROS_DOMAIN_ID
export ROS_DOMAIN_ID=55
ros2 launch simulation_sample_pick_and_place simulation_sample_pick_and_place.launch.py

If the ROS node is launched successfully, the log starting from [move_group-1] You can start planning now! appears.

Launch the pick-and-place sample application

Open another terminal and run the following commands:

SSH Session

# setup runtime environment
source /usr/share/qirp-setup.sh
# Set the ROS_DOMAIN_ID
export ROS_DOMAIN_ID=55
ros2 run simulation_sample_pick_and_place qrb_ros_arm_pick_place

Result If the ROS node launches successfully, you can see the robot arm performing the pick-and-place operation in Gazebo.

Build and run `simulation_sample_pick_and_place`

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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 you decompress the QIR SDK.

Build and package on the host computer

Build the sample application project.

SSH Session

# Set up the QIR SDK  environment
tar -zxf qirp-sdk_<qir_version>.tar.gz
cd <qir_decompressed_path>/qirp-sdk
source setup.sh
# Build the sample
cd <qir_decompressed_path>/qirp-sdk/qirp-samples/robotics/simulation_sample_pick_and_place
chmod +x scripts/build.sh
bash scripts/build.sh

Package and push the sample application to the device.

SSH Session

# package and push build result of sample
cd <qir_decompressed_path>/qirp-sdk/qirp-amples/robotics/simulation_sample_pick_and_place/install
tar -czf simulation_sample_pick_and_place.tar.gz lib share
scp simulation_sample_pick_and_place.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_pick_and_place.tar.gz -C /usr/ros/jazzy/

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

​Pipeline flow for simulation_sample_pick_and_place

​ROS nodes used in the simulation_sample_pick_and_place pipeline

​ROS topics used in the simulation_sample_pick_and_place pipeline

​Prerequisites

​Set up the simulation environment

​Run out-of-the-box simulation_sample_pick_and_place

​Build and run simulation_sample_pick_and_place

Pipeline flow for `simulation_sample_pick_and_place`

ROS nodes used in the `simulation_sample_pick_and_place` pipeline

ROS topics used in the `simulation_sample_pick_and_place` pipeline

Prerequisites

Set up the simulation environment

Run out-of-the-box `simulation_sample_pick_and_place`

Build and run `simulation_sample_pick_and_place`