QRB ROS Simulation ships five pre-built Gazebo world environments as SDF files. Each world provides a different physical layout suited to different testing scenarios. The default world isDocumentation Index
Fetch the complete documentation index at: https://mintlify.com/qualcomm-qrb-ros/qrb_ros_simulation/llms.txt
Use this file to discover all available pages before exploring further.
warehouse, which loads automatically when no world_model argument is specified. You can switch worlds at launch time without rebuilding or modifying any source files.
Available worlds
The world files are located in theqrb_ros_sim_gazebo/worlds/ directory of the installed package.
| World model | File | Description |
|---|---|---|
warehouse | warehouse.sdf | Default indoor warehouse environment. A large enclosed space with shelving and open floor area, suited for general AMR navigation and obstacle avoidance testing. |
warehouse_followme_path1 | warehouse_followme_path1.sdf | Warehouse variant with a pre-defined navigation path. Designed for follow-me and waypoint-following scenarios. |
warehouse_followme_path2 | warehouse_followme_path2.sdf | Second warehouse variant with an alternative pre-defined navigation path for follow-me testing. |
office | office.sdf | Indoor office layout with rooms, corridors, and furniture. Suited for testing navigation in tighter, more structured environments. |
ionic | ionic.sdf | Alternative environment for general simulation and sensor testing. |
Selecting a world
Pass theworld_model argument to any robot launch file to choose the world. Specify the filename without the .sdf extension:
world_model parameter can also be set in a YAML launch config file:
The
world_model value must match the SDF filename exactly (case-sensitive), without the .sdf extension. For example, use warehouse_followme_path1, not warehouse_followme_path1.sdf or Warehouse_Followme_Path1.