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QRB ROS Simulation launch files accept configuration through two mechanisms: command-line arguments passed directly to ros2 launch, and a YAML config file specified via launch_config_file. When a config file is provided, the values in that file take highest priority and override both command-line arguments and built-in defaults.

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Command-line arguments

Pass any parameter directly on the command line using the key:=value syntax: 
ros2 launch qrb_ros_sim_gazebo gazebo_robot_base.launch.py world_model:=office
Multiple arguments can be combined in a single command: 
ros2 launch qrb_ros_sim_gazebo gazebo_robot_base.launch.py \
  world_model:=office \
  namespace:=robot1 \
  enable_laser:=true \
  initial_x:=1.0 \
  initial_yaw:=1.5708

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YAML config file

For repeatable or complex configurations, write your parameters to a YAML file and pass its path via launch_config_file. Parameters in this file override both defaults and any command-line values provided at the same time. The repository ships a reference config file at qrb_ros_sim_gazebo/config/reference_launch_config.yaml: 
# Name of the Gazebo world model to load (without .sdf extension)
world_model: "warehouse"
# Name of the robot entity in the simulation environment
robot_entity_name: "qrb_robot"
# ROS namespace
namespace: ""
# Enable/disable LiDAR sensor in the simulated robot
enable_laser: "true"
# Enable/disable Inertial Measurement Unit (IMU) sensor in the simulated robot
enable_imu: "true"
# Enable/disable odometry data publication
enable_odom: "true"
# Enable/disable RGB camera sensor in the simulated robot
enable_rgb_camera: "true"
# Enable/disable depth camera sensor in the simulated robot
enable_depth_camera: "true"
# Initial X position (meters) of the robot in the simulated world coordinate system
initial_x: "0.0"
# Initial Y position (meters) of the robot in the simulated world coordinate system
initial_y: "0.0"
# Initial Z position (meters) of the robot in the simulated world coordinate system
initial_z: "0.0"
# Initial roll orientation (radians) of the robot around the X-axis
initial_roll: "0.0"
# Initial pitch orientation (radians) of the robot around the Y-axis
initial_pitch: "0.0"
# Initial yaw orientation (radians) of the robot around the Z-axis
initial_yaw: "0.0"
Pass the config file path at launch time: 
ros2 launch qrb_ros_sim_gazebo gazebo_robot_base.launch.py \
  launch_config_file:=/path/to/config.yaml
Copy reference_launch_config.yaml as a starting point, adjust the values you need, and leave the rest commented out. Only keys present in the file will override defaults.

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Parameters

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Core parameters

These parameters apply to all robot models.
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launch_config_file
string
default:""
Path to a YAML configuration file. Parameters defined in this file have highest priority and override both command-line arguments and built-in defaults. Leave empty to rely on command-line and defaults.
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world_model
string
default:"warehouse"
Name of the Gazebo world model to load, without the .sdf file extension. Available values: warehouse, warehouse_followme_path1, warehouse_followme_path2, office, ionic. See Gazebo world models for details.
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robot_entity_name
string
default:"varies by model"
Name of the robot entity as it appears in the Gazebo simulation environment. Per-robot defaults: qrb_amr_robot (AMR), qrb_amr_mini_robot (AMR Mini), qrb_mobile_manipulator_robot (Mobile Manipulator), rml_63_arm_robot (RML-63 arm).
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namespace
string
default:""
ROS 2 namespace applied to all topics and nodes launched for this robot. Leave empty for no namespace prefix.

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Initial pose

These parameters set the robot’s starting position and orientation in world coordinates. All defaults are 0.0 for AMR and Mobile Manipulator models. The RML-63 robotic arm uses different defaults (initial_x: 2.0, initial_y: -2.0, initial_z: 1.03, initial_yaw: 3.14159).
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initial_x
string
default:"0.0"
Initial X position of the robot in meters, in world coordinates.
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initial_y
string
default:"0.0"
Initial Y position of the robot in meters, in world coordinates.
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initial_z
string
default:"0.0"
Initial Z position of the robot in meters, in world coordinates.
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initial_roll
string
default:"0.0"
Initial roll orientation of the robot in radians, around the X-axis.
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initial_pitch
string
default:"0.0"
Initial pitch orientation of the robot in radians, around the Y-axis.
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initial_yaw
string
default:"0.0"
Initial yaw orientation of the robot in radians, around the Z-axis. The RML-63 robotic arm defaults to 3.14159.

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Sensor enable flags

These parameters are available for robot base models (AMR, AMR Mini, and Mobile Manipulator). They are not applicable to the standalone RML-63 robotic arm.
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enable_laser
string
default:"true"
Enable or disable the LiDAR sensor. Accepted values: "true" or "false". When disabled, no /scan topic is published and the ros-gz LiDAR bridge is not started.
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laser_config_file
string
Absolute path to the LiDAR sensor configuration YAML file. The AMR Mini launch file substitutes qrb_robot_base_mini_laser_params.yaml as its default. See Sensor configuration for the full file contents.
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enable_imu
string
default:"true"
Enable or disable the IMU sensor. Accepted values: "true" or "false". When disabled, no /imu topic is published.
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imu_config_file
string
Absolute path to the IMU configuration YAML file. See Sensor configuration for the full file contents.
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enable_odom
string
default:"true"
Enable or disable odometry data publication. Accepted values: "true" or "false". When disabled, no /odom topic is bridged from Gazebo.
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enable_odom_tf
string
default:"false"
Enable or disable publication of odometry-based TF transforms. Accepted values: "true" or "false". Disabled by default to avoid conflicts with external localization or navigation stacks that provide their own odom→base_link transform.

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Camera parameters

Camera parameters are available on the RML-63 Robotic Arm, QRB Robot Base AMR Mini, and QRB Mobile Manipulator — all three models declare RGB and depth camera support. They are not available for the standard QRB Robot Base AMR.
The enable_rgb_camera, rgb_camera_config_file, enable_depth_camera, and depth_camera_config_file parameters are not declared by the standard AMR (gazebo_robot_base.launch.py) launch file. Passing them to that launch file will produce an unrecognized argument error.
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enable_rgb_camera
string
default:"true"
Enable or disable the RGB camera sensor. Accepted values: "true" or "false". When disabled, the /camera/color/image_raw and /camera/color/camera_info topics are not bridged.
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rgb_camera_config_file
string
Absolute path to the RGB camera configuration YAML file. See Sensor configuration for the full file contents.
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enable_depth_camera
string
default:"true"
Enable or disable the depth camera sensor. Accepted values: "true" or "false". When disabled, the /camera/depth/image_raw, /camera/depth/camera_info, and /camera/depth/points topics are not bridged.
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depth_camera_config_file
string
Absolute path to the depth camera configuration YAML file. See Sensor configuration for the full file contents.

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