> ## Documentation Index
> Fetch the complete documentation index at: https://dragonwingdocs.qualcomm.com/llms.txt
> Use this file to discover all available pages before exploring further.

# Control AMR in the simulator with simulation_sample_amr_simple_motion

> The 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](https://github.com/qualcomm-qrb-ros/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.

<Note>
  For more information, see the [Simulation Sample AMR Simple Motion](https://github.com/qualcomm-qrb-ros/qrb_ros_samples/tree/main/robotics/simulation_sample_amr_simple_motion) GitHub repo.
</Note>

The following figure shows the motion control terminal next to the simulator view of the QRB AMR:

<Frame>
  <img src="https://mintcdn.com/qualcomm-prod/EDJV-hu6qJhZi4pm/SDKs/QIR-SDK-Ubuntu/images/image23.gif?s=4194e9e012ee1ca2e596937a0dfd4155" alt="Terminal accepting AMR motion control commands beside a simulator view of the robot base moving across the floor." width="1200" height="480" data-path="SDKs/QIR-SDK-Ubuntu/images/image23.gif" />
</Frame>

## Pipeline flow for `simulation_sample_amr_simple_motion`

The following figure shows the pipeline of `simulation_sample_amr_simple_motion`:

<Frame caption="simulation_sample_amr_simple_motion pipeline.">
  <img src="https://mintcdn.com/qualcomm-prod/EDJV-hu6qJhZi4pm/SDKs/QIR-SDK-Ubuntu/images/image24.png?fit=max&auto=format&n=EDJV-hu6qJhZi4pm&q=85&s=c8482f845bf52969505ef27a58b9f267" alt="Device-side AMR simple motion node publishing ROS messages on the cmd_vel topic to the QRB ROS simulation running on the host." width="2643" height="529" data-path="SDKs/QIR-SDK-Ubuntu/images/image24.png" />
</Frame>

## 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.

| ROS node             | Description                                                                                                                                                                                                        |
| -------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| `qrb_ros_simulation` | `qrb_ros_simulation` is a ROS package designed to set up the Qualcomm robotic simulation environment. For details, see the [QRB ROS Simulation](https://github.com/qualcomm-qrb-ros/qrb_ros_simulation) on GitHub. |

## 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.

| ROS topic                 | Type                        | Published by                          |
| ------------------------- | --------------------------- | ------------------------------------- |
| `/qrb_robot_base/cmd_vel` | `geometry_msgs::msg::Twist` | `simulation_sample_amr_simple_motion` |

## 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](./install-the-qir-sdk).

## Run `simulation_sample_amr_simple_motion`

<Steps>
  <Step title="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](https://github.com/qualcomm-qrb-ros/qrb_ros_simulation).

    1. Set up development environment on Ubuntu24.04 host or Docker.

    2. Build from source.
  </Step>

  <Step title="Run the QRB Robot Base AMR on the host">
    ```bash theme={null}
    source /opt/ros/jazzy/setup.bash
    ros2 launch qrb_ros_sim_gazebo gazebo_robot_base.launch.py namespace:=qrb_robot_base enable_laser:=false
    ```
  </Step>

  <Step title="Run AMR simple motion on the development kit">
    On the development kit, run the following commands to run AMR simple motion.

    ```bash theme={null}
    source /opt/ros/jazzy/setup.bash
    ros2 run simulation_sample_amr_simple_motion simple_motion
    ```
  </Step>
</Steps>

### 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.