The QRB ROS Simulation is a ROS project designed to set up the Qualcomm robotic simulation environment.
- This project provides simulation configurations for various robotic systems, including robotic arms, AMRs, sensors, and more.
- This project enables extensive testing and validation of robotic development without the need for physical Qualcomm robot prototypes.
The qrb_ros_sim_description is a ROS 2 package. It contains the description assets referenced by the simulation, including URDF, model meshes, etc. These assets are consumed by simulator to render the models and environments.
The qrb_ros_sim_gazebo is a ROS 2 package. It provides Gazebo integration and ROS 2 launch files to start worlds and robots, wire up controllers, and expose standard ROS topics via the ros-gz stack.
| Name | Type | Description |
|---|---|---|
| /clock | rosgraph_msgs.msg.Clock | Providing simulation time |
| /tf | tf2_msgs.msg.TFMessage | Real-time coordinate frame transformations |
| /tf_static | tf2_msgs.msg.TFMessage | Static coordinate frame transformations |
| /robot_description | std_msgs.msg.String | URDF description of the robot model |
| /joint_states | sensor_msgs.msg.JointState | Current state of all joints |
| /camera/color/camera_info | sensor_msgs.msg.CameraInfo | Intrinsic parameters of RGB camera |
| /camera/color/image_raw | sensor_msgs.msg.Image | Raw image stream from RGB camera |
| /camera/depth/camera_info | sensor_msgs.msg.CameraInfo | Intrinsic parameters of depth camera |
| /camera/depth/image_raw | sensor_msgs.msg.Image | Raw depth image stream |
| /camera/depth/points | sensor_msgs.msg.PointCloud2 | 3D point cloud data generated from depth |
| /scan | sensor_msgs.msg.LaserScan | Laser scan data from the LiDAR sensor |
| /imu | sensor_msgs.msg.Imu | Inertial data including acceleration and angular velocity |
| /odom | nav_msgs.msg.Odometry | Odometry data including position and velocity |
| Name | Type | Description |
|---|---|---|
| /cmd_vel | geometry_msgs.msg.Twist | Velocity command input for robot movement |
| Name | Type | Description |
|---|---|---|
| /rm_group_controller/follow_joint_trajectory | control_msgs.action.FollowJointTrajectory | Action interface for joint trajectory control |
| Name | Type | Description | Default Value |
|---|---|---|---|
| launch_config_file | string | Path to a YAML configuration file. Parameters defined in this file have HIGHEST PRIORITY and will override the command-line and default values | '' |
| world_model | string | Name of the Gazebo world model to load (without .sdf extension) | 'warehouse' |
Click to show more
| Name | Type | Description | Default Value |
|---|---|---|---|
| launch_config_file | string | Path to a YAML configuration file. Parameters defined in this file have HIGHEST PRIORITY and will override the command-line and default values | '' |
| world_model | string | Name of the Gazebo world model to load (without .sdf extension) | 'warehouse' |
| robot_entity_name | string | Name of the robot entity in the simulation environment | 'qrb_robot' |
| namespace | string | ROS namespace | '' |
| initial_x | float | Initial X position (meters) of robot entity in world coordinates |
|
| initial_y | float | Initial Y position (meters) of robot entity in world coordinates |
|
| initial_z | float | Initial Z position (meters) of robot entity in world coordinates |
|
| initial_roll | float | Initial roll orientation (radians) of robot entity around X-axis |
|
| initial_pitch | float | Initial pitch orientation (radians) of robot entity around Y-axis |
|
| initial_yaw | float | Initial yaw orientation (radians) of robot entity around Z-axis |
|
| enable_laser | string | Enable/disable LiDAR sensor ("true"/"false") | 'true' |
| laser_config_file | string | Path to LiDAR sensor configuration YAML file | '{qrb_ros_sim_gazebo package}/ config/params/{model}_laser_params.yaml' |
| enable_imu | string | Enable/disable Inertial Measurement Unit (IMU) sensor ("true"/"false") | 'true' |
| imu_config_file | string | Path to IMU configuration YAML fil | '{qrb_ros_sim_gazebo package}/ config/params/imu_params.yaml' |
| enable_odom | string | Enable/disable odometry sensor ("true"/"false") | 'true' |
| enable_odom_tf | string | Enable/disable odometry tf data publication ("true"/"false") | 'false' |
| enable_rgb_camera | string | Enable/disable RGB camera sensor ("true"/"false") | 'true' |
| rgb_camera_config_file | string | Path to RGB camera configuration YAML file | '{qrb_ros_sim_gazebo package}/ config/params/rgb_camera_params.yaml' |
| enable_depth_camera | string | Enable/disable depth camera sensor ("true"/"false") | 'true' |
| depth_camera_config_file | string | Path to depth camera configuration YAML file | '{qrb_ros_sim_gazebo package}/ config/params/depth_camera_params.yaml' |
You can setup ROS2 Jazzy on your host machine with ubuntu24.04 OR you can use a docker-based development environment directly.
Ubuntu24.04 host
- Please reference Install ROS Jazzy to install ros-jazzy-desktop and setup ROS env.
- Install gazebo with ROS and other dependencies
sudo apt-get install -y ros-jazzy-ros-gz ros-jazzy-gz-ros2-control ros-jazzy-ros2-controllersNext, you can follow the steps of Build from source and Usage to launch the simulation environment.
Docker
- Build the docker image locally
cd qrb_ros_simulation
chmod +x scripts/docker_build.sh
./scripts/docker_build.sh- Start a docker container
chmod +x scripts/docker_run.sh
./scripts/docker_run.sh- Enable SSH service in the docker container
# set the password of user root
(docker) passwd
# enable SSH service
(docker) service ssh start- In a separate terminal, login to the docker container by SSH
ssh -X -p 222 root@your_host_ipNext, you can follow the steps of Build from source and Usage to launch the simulation environment within the docker container.
Download qrb_ros_simulation and meshes files
mkdir -p ~/qrb_ros_simulation_ws
cd ~/qrb_ros_simulation_ws
git clone https://github.com/qualcomm-qrb-ros/qrb_ros_simulation.git
cd qrb_ros_simulation
chmod +x scripts/meshes_download.sh
./scripts/meshes_download.shBuild the project
source /opt/ros/jazzy/setup.bash
cd ~/qrb_ros_simulation_ws
colcon build
source install/local_setup.shFour pre-configured robotic models are ready to be launched directly.
- launch RML-63 robotic arm in gazebo
ros2 launch qrb_ros_sim_gazebo gazebo_rml_63_gripper.launch.py- Press the
Playbutton to start the simulation - In a separate terminal, load the controllers of RML-63
cd ~/qrb_ros_simulation_ws
source install/local_setup.sh
ros2 launch qrb_ros_sim_gazebo gazebo_rml_63_gripper_load_controller.launch.pyros2 launch qrb_ros_sim_gazebo gazebo_robot_base.launch.pyros2 launch qrb_ros_sim_gazebo gazebo_robot_base_mini.launch.py- launch
ros2 launch qrb_ros_sim_gazebo gazebo_mobile_manipulator.launch.py- Press the
Playbutton to start the simulation - In a separate terminal, load the controllers of RML-63
cd ~/qrb_ros_simulation_ws
source install/local_setup.sh
ros2 launch qrb_ros_sim_gazebo gazebo_rml_63_gripper_load_controller.launch.pyWe love community contributions! Get started by reading our CONTRIBUTING.md.
Feel free to create an issue for bug report, feature requests or any discussion💡.
Thanks to all our contributors who have helped make this project better!
 quic-weijshen |
 fulaliu |
 teng |
 xionfu |
 jiaxshi |
 quic-zhanlin |
 quic-zhaoyuan |
Project is licensed under the BSD-3-Clause License. See LICENSE for the full license text.