QRB ROS AMR Service

ROS2 Package for Autonomous Mobile Robot (AMR) Service on Qualcomm Robotics Platform

👋 Overview

QRB ROS AMR Service is a ROS2 package suite designed to manage AMR behaviors on Qualcomm robotics platform. Key features include:

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

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 & 2D LiDAR SLAM: Provides mapping and localization.

Nav2: Provides P2P navigation.

🔎 Table of contents

APIs
- qrb_ros_amr APIs
- qrb_amr_manager APIs
Supported targets
Installation
Build from source
Usage
- Starting the amr service node
Contributing
Contributors
FAQs
License

⚓ APIs

🔹 `qrb_ros_amr_service` APIs

ROS interfaces

Interface	Name	Type	Description
Publisher	amr_status	qrb_ros_amr_msgs::msg::AMRStatus	Publishes AMR status
Subscriber	test	std_msgs::msg::Int16	Receives debugging information
Subscriber	debug_exception	std_msgs::msg::Int16	Receives simulated exception info
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

ROS message parameters

amr_status

Name	Type	Description	Default Value
status_change_id	uint8	AMR changed status ID	-
amr_exception	bool	AMR exception information	-
error_code	uint8	Error code when AMR is in exception	-
current_pose	geometry_msgs/PoseStamped	Current position of AMR	-
current_state	uint8	Current state of AMR	-
battery_vol	float64	Current battery voltage	-
vel	geometry_msgs/Vector3	Current velocity of AMR	-
mileage	float64	Reserved	-
header	std_msgs/Header	Message header	-

Note

Other modules can interact with these interfaces for AMR monitoring.

test

Name	Type	Description	Default Value
data	int16	Debugging ID	-

Note

Other modules can send debugging information to simulate AMR events in developer mode.

debug_exception

Name	Type	Description	Default Value
data	int16	Debugging exception ID	-

Note

Other modules can send debugging exceptions to simulate AMR exception events in developer mode.

sub_cmd

Name	Type	Description	Default Value
subcommand	uint8	Sub-command	-
result	bool	Result of sub-command	-

Note

Other modules can send sub-commands to cancel, pause, or resume navigation.

amr_mapping

Name	Type	Description	Default Value
cmd	uint8	Mapping command	-
result	bool	Result of command	-

Note

Other modules can send mapping commands to load map, start mapping, or stop mapping.

api

Name	Type	Description	Default Value
api_id	uint8	API ID	-
developer_mode	bool	Enable/disable developer mode	-
result	bool	Result of API handling	-

Note

Other modules can send API requests to initialize AMR, release AMR, or control developer mode.

cmd

Name	Type	Description	Default Value
command	uint8	Command ID (navigation, charging, etc.)	-
goal	geometry_msgs/PoseStamped	Goal for point-to-point navigation	-
path	nav_msgs/Path	Reserved	-
goal_id	uint32	Target waypoint ID for follow path	-
passing_waypoint_ids	uint32[]	Waypoints to pass through on follow path	-
result	bool	Result of command	-
current_pose	geometry_msgs/PoseStamped	Current position of AMR	-
passing_waypoint_id	uint32	Passing waypoint ID during follow path	-
distance_to_goal	float32	Distance from current position to goal	-

Note

Other modules can send command requests to start point-to-point navigation, follow path, or return to charging station.

🔹 `qrb_amr_manager` APIs

Function	Parameters	Description
void init_amr()	-	Initialize AMR service.
void release_amr()	-	Release AMR service.
bool check_potential_state(int cmd)	cmd: Navigation command (P2PNav, FollowPath, Return Charging)	Check if AMR state meets navigation requirements.
bool check_potential_subcmd_state(uint8_t subcmd)	subcmd: Sub-command (Cancel, Pause, Resume)	Check if AMR state meets sub-command requirements.
void process_cmd(int cmd, void * buffer, size_t len)	cmd: Navigation command, buffer: Goal, len: Length of goal	Start P2P or charging station navigation.
void process_cmd(int cmd, uint32_t goal_id, std::vector & ids)	cmd: Follow path command, goal_id: Target waypoint, ids: Passing waypoints	Start follow path navigation.
bool start_mapping()	-	Start mapping.
bool stop_mapping()	-	Stop mapping.
bool load_map()	-	Load map.
void process_sub_cmd(int msg)	msg: Sub-command	Cancel, pause, or resume navigation (including follow path and charging).
void notify_battery_changed(float battery_vol)	battery_vol: Battery voltage	Update battery voltage.
void notify_charging_state_changed(uint8_t state)	state: Charging state	Update charging state.
void register_start_charging_callback(start_charging_func_t cb)	cb: Start charging callback	Register callback for starting charging.
void register_publish_twist_callback(publish_twist_func_t cb)	cb: Move AMR callback	Register callback for moving AMR.
void register_start_p2p_nav_callback(start_p2p_func_t cb)	cb: P2P navigation completion callback	Register callback for P2P navigation completion.
void register_start_waypoint_follow_path_callback(start_waypoint_follow_path_func_t cb)	cb: Follow path completion callback	Register callback for follow path completion.
register_navigate_to_charging_callback(navigate_to_charging_func_t cb)	cb: Charging navigation completion callback	Register callback for charging navigation completion.
void register_sub_cmd_callback(sub_cmd_func_t cb)	cb: Sub-command callback	Register callback for sub-command.
void register_change_mode_callback(change_mode_func_t cb)	cb: Control mode callback	Register callback to set control mode (application, charging, remote controller).
void register_slam_command_callback(slam_command_func_t cb)	cb: SLAM command callback	Register callback for SLAM commands (start/stop mapping, save/load map, localization, relocalization).

Note

These APIs enable AMR service integration for non-ROS applications. For ROS packages, please use the qrb_ros_amr_service APIs..

🎯 Supported targets

Hardware Overview
Development Hardware	Qualcomm Dragonwing™ RB3 Gen2	Qualcomm Dragonwing™ IQ-9075 EVK

✨ Installation

Important

PREREQUISITES: The following steps need to be run on Qualcomm Ubuntu and ROS Jazzy.
Reference Install Ubuntu on Qualcomm IoT Platforms and Install ROS Jazzy to setup environment.
For Qualcomm Linux, please check out the Qualcomm Intelligent Robotics Product SDK documents.

👨‍💻 Build from source

Install dependencies:

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

Clone 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

🚀 Usage

Start the amr service node

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

Sample output:

[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2025-09-17-10-58-59-978240-ubuntu-3342
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [qrb_ros_amr-1]: process started with pid [3345]
[qrb_ros_amr-1] [amr_manager]: AMRManager
[qrb_ros_amr-1] [amr_manager]: init
[qrb_ros_amr-1] [INFO] [1758106740.351087121] [mapping_service_server]: MappingServiceServer
[qrb_ros_amr-1] [amr_state_machine]: register_start_p2p_nav_callback
[qrb_ros_amr-1] [amr_state_machine]: register_start_follow_path_callback
[qrb_ros_amr-1] [amr_state_machine]: register_start_waypoint_follow_path_callback
[qrb_ros_amr-1] [amr_state_machine]: register_sub_cmd_callback
[qrb_ros_amr-1] [amr_state_machine]: register_navigate_to_charging_callback
[qrb_ros_amr-1] [INFO] [1758106740.403569396] [cartographer_service_client]: Creating
[qrb_ros_amr-1] [INFO] [1758106740.403678772] [cartographer_service_client]: init_client
[qrb_ros_amr-1] [amr_state_machine]: register_slam_command_callback
[qrb_ros_amr-1] [low_power_manager]: register_change_mode_callback
[qrb_ros_amr-1] [INFO] [1758106740.417741601] [amr_status_transporter]: AMRStatusTransporter
[qrb_ros_amr-1] [amr_state_machine]: register_start_charging_callback
[qrb_ros_amr-1] [amr_state_machine]: register_notify_exception_callback
[qrb_ros_amr-1] [amr_state_machine]: register_send_amr_state_changed_callback
[qrb_ros_amr-1] [amr_state_machine]: register_publish_twist_callback
[qrb_ros_amr-1] [INFO] [1758106740.434623101] [developer_mode_subscriber]: DeveloperModeSubscriber
[qrb_ros_amr-1] [amr_state_machine]: register_node_manager_callback
[qrb_ros_amr-1] [INFO] [1758106740.456975064] [amr_controller]: Init amr node
...

🤝 Contributing

We love community contributions! Get started by reading our CONTRIBUTING.md.
Feel free to create an issue for bug report, feature requests or any discussion💡.

❤️ Contributors

Thanks to all our contributors who have helped make this project better!

_quic-zhanlin

_{xiaowz-robotics}

❔ FAQs

Does it support other AMR?

No, it only supports Qualcomm AMR.

📜 License

Project is licensed under the BSD-3-Clause License. See LICENSE for the full license text.

Name		Name	Last commit message	Last commit date
Latest commit History 37 Commits
.github		.github
docs/assets		docs/assets
qrb_amr_manager		qrb_amr_manager
qrb_ros_amr		qrb_ros_amr
.clang-format		.clang-format
CHANGELOG.md		CHANGELOG.md
CODE-OF-CONDUCT.md		CODE-OF-CONDUCT.md
CONTRIBUTING.md		CONTRIBUTING.md
LICENSE		LICENSE
README.md		README.md

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QRB ROS AMR Service

👋 Overview

🔎 Table of contents

⚓ APIs

🔹 `qrb_ros_amr_service` APIs

ROS interfaces

ROS message parameters

amr_status

test

debug_exception

sub_cmd

amr_mapping

api

cmd

🔹 `qrb_amr_manager` APIs

🎯 Supported targets

✨ Installation

👨‍💻 Build from source

🚀 Usage

Start the amr service node

🤝 Contributing

❤️ Contributors

❔ FAQs

📜 License

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QRB ROS AMR Service

👋 Overview

🔎 Table of contents

⚓ APIs

🔹 qrb_ros_amr_service APIs

ROS interfaces

ROS message parameters

amr_status

test

debug_exception

sub_cmd

amr_mapping

api

cmd

🔹 qrb_amr_manager APIs

🎯 Supported targets

✨ Installation

👨‍💻 Build from source

🚀 Usage

Start the amr service node

🤝 Contributing

❤️ Contributors

❔ FAQs

📜 License

About

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