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QRB ROS Simulation provides a complete Gazebo-based simulation environment for Qualcomm robotic platforms. It supports multiple pre-configured robot models — including robotic arms, autonomous mobile robots (AMRs), and mobile manipulators — along with a rich sensor suite, letting you develop and validate robotics software without physical Qualcomm hardware.

Quickstart

Launch your first robot simulation in minutes with step-by-step instructions.

Robot Models

Explore the four pre-configured robots: RML-63 arm, AMR, AMR Mini, and Mobile Manipulator.

Configuration

Customize launch parameters, sensors, world models, and initial robot pose.

ROS Topics Reference

Complete reference for all published and subscribed ROS topics and actions.

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What’s included

QRB ROS Simulation ships two ROS 2 packages that work together to deliver a full simulation stack:
  • qrb_ros_sim_description — URDF models, mesh assets, and sensor descriptions consumed by Gazebo to render robots and environments.
  • qrb_ros_sim_gazebo — Gazebo integration, ROS 2 launch files, sensor bridging, and controller wiring via the ros-gz stack.

Host environment setup

Install ROS 2 Jazzy and Gazebo dependencies on Ubuntu 24.04.

Docker environment

Use the pre-built Docker image for an isolated, ready-to-run development environment.

Build from source

Clone the repository and build with colcon for a local development workflow.

World models

Choose from warehouse, office, and other pre-built Gazebo simulation worlds.

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Supported robots

RML-63 Robotic Arm

6-DOF robotic arm with gripper, joint trajectory control, and Gazebo physics.

QRB Robot Base AMR

Autonomous Mobile Robot with LiDAR, IMU, odometry, and differential drive.

QRB Robot Base AMR Mini

Compact AMR variant with the same sensor suite in a smaller form factor.

Mobile Manipulator

Combined AMR base and RML-63 arm for mobile manipulation tasks.

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