Run basic AMR functionality with the AMR service - Qualcomm Dragonwing Documentation

Key features include:

P2P navigation requests.
Path following.
Mapping services.
Automatic return to charging station when battery is low.

Software structure

The following figure shows the structure of the autonomous mobile robot (AMR) service.

ROS nodes and modules used in the AMR service

The following table lists the ROS nodes and modules used in the AMR service and the function of each one.

Node name	Function
`qrb_ros_amr`	ROS2 package implementing action/service clients & servers, publishers and subscribers for navigation, mapping and AMR status feedback.
`qrb_amr_manager`	C++ library providing APIs for AMR state management and charging logic. - Low Power Manager: Returns to charging station when battery `< 2.2V`. - Manager: Library interface. - State Machine: Manages AMR state and actions.
Follow Path Service & Follow Path Manager	ROS2 package for path following navigation
Robot Base & Robot Base Controller	ROS2 package for AMR base control.
2D lidar SLAM ROS and 2D lidar SLAM	Provides mapping and localization.
Nav2	Provides P2P navigation.

`qrb_ros_amr_service` APIs

The following table lists the interfaces that qrb_ros_amr_service exposes, with the name, type, and description of each one.

Interface	Name	Type	Description
Publisher	`amr_status`	`qrb_ros_amr_msgs::msg::AMRStatus`	Publishes AMR status.
Subscriber	`test`	`std_msgs::msg::Int16`	Receives the debugging information.
Subscriber	`debug_exception`	`std_msgs::msg::Int16`	Receives the simulated exception information.
Service Server	`sub_cmd`	`qrb_ros_amr_msgs::srv::SubCmd`	Handles sub-command requests.
Service Server	`amr_mapping`	`qrb_ros_amr_msgs::srv::Mapping`	Handles mapping requests.
Service Server	`api`	`qrb_ros_amr_msgs::srv::API`	Handles API requests.
Action Server	`cmd`	`qrb_ros_amr_msgs::action::Cmd`	Handles navigation commands.

Prerequisites

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.

Run the out-of-the-box AMR service

Run the following commands on the device unless otherwise specified.

Install the amr service packages

Install the AMR service packages

sudo apt install ros-jazzy-nav2-msgs
sudo apt install ros-jazzy-nav-2d-msgs
sudo apt install ros-jazzy-qrb-ros-amr-msgs
sudo apt install ros-jazzy-qrb-ros-navigation-msgs
sudo apt install ros-jazzy-qrb-amr-manager
sudo apt install ros-jazzy-qrb-ros-amr

Set up 2D Lidar SLAM

Run step 1 to step 5 of Run out-of-the-box 2D lidar SLAM to launch 2D Lidar simultaneous localization and mapping (SLAM), skipping step 6.

Set up the follow-path service

Set up the follow-path service according to step 1 to step 3 of Run out-of-the-box qrb_ros_follow_path service.

Install the nav2 package and set up nav2

Install and launch nav2

sudo apt install ros-jazzy-navigation2 ros-jazzy-nav2-bringup ros-jazzy-nav2-route
ros2 launch nav2_bringup navigation_launch.py

Set up the sample environment on the device

Launch the AMR service

source /opt/ros/jazzy/setup.bash
source install/setup.bash
ros2 launch qrb_ros_amr qrb_ros_amr_bringup.launch.py

Test the AMR service

You can implement a ROS node according to the qrb_ros_amr_service APIs table to complete the mapping, follow-path and P2P navigation.
You can also use these ROS commands to complete the mapping, follow-path and P2P navigation.

a. Install rqt-robot-steering on the host computer (Ubuntu 24.04)

sudo apt install ros-jazzy-rqt-robot-steering

b. Run rqt-robot-steering on the host computer.

ros2 run rqt_robot_steering rqt_robot_steering

c. Initiate the AMR.

ros2 service call /api qrb_ros_amr_msgs/srv/API "{api_id: 1}"

d. Start mapping.

ros2 service call /amr_mapping qrb_ros_amr_msgs/srv/Mapping "{cmd: 2}"

e. Install and set up rviz2 on the host computer.

sudo apt install ros-jazzy-rviz2
ros2 run rviz2 rviz2

f. Use rqt-robot-steering to control the movement of the robot base.g. Stop mapping.

ros2 service call /amr_mapping qrb_ros_amr_msgs/srv/Mapping "{cmd: 3}"

The base starts to rotate, and after a period of time, it stops rotating. The map is displayed properly on rviz.h. Start a P2P navigation.

ros2 action send_goal /cmd qrb_ros_amr_msgs/action/Cmd "{command: 3, goal: {header: {frame_id: 'map'}, pose: {position: {x: 0.0, y: 0.0, z: 0.0}, orientation: {x: 0.0, y: 0.0, z: 0.0, w: 2.0}}}}"

The pose can be replaced by a real value of map.i. Pause the current P2P navigation.

ros2 service call /sub_cmd qrb_ros_amr_msgs/srv/SubCmd "{ subcommand: 2}"

j. Resume the current P2P navigation.

ros2 service call /sub_cmd qrb_ros_amr_msgs/srv/SubCmd "{ subcommand: 3}"

k. After the P2P navigation is completed, set the waypoint and virtual path according to step 4 (a to j) of the follow-path out-of-the-box steps.l. Use rqt-robot-steering to move the robot base to waypoint (id = 2).m. Start a follow-path operation from waypoint (id = 2) to waypoint (id = 1).

ros2 action send_goal /cmd qrb_ros_amr_msgs/action/Cmd "{command: 6, goal_id: 1}"

Build from source and run AMR service

Build the autonomous mobile robot (AMR) service from source when you need to change the service code. The device steps install the dependencies, clone the source repositories, build the packages, and run the result.

Device steps

Install the dependencies

sudo apt install ros-jazzy-nav2-msgs
sudo apt install ros-jazzy-nav-2d-msgs

Download and build

source /opt/ros/jazzy/setup.bash
git clone https://github.com/qualcomm-qrb-ros/qrb_ros_amr_service.git
git clone https://github.com/qualcomm-qrb-ros/qrb_ros_interfaces.git
colcon build

Run and test

Run and test according to steps 2 to 6 of Run the out-of-the-box AMR service.

​Software structure

​ROS nodes and modules used in the AMR service

​qrb_ros_amr_service APIs

​Prerequisites

​Run the out-of-the-box AMR service

​Build from source and run AMR service

​Device steps

Software structure

ROS nodes and modules used in the AMR service

`qrb_ros_amr_service` APIs

Prerequisites

Run the out-of-the-box AMR service

Build from source and run AMR service

Device steps