QRB ROS Simulation is a ROS 2 project that sets up a complete Gazebo-based simulation environment for Qualcomm robotic platforms. It provides pre-configured simulation for robotic arms, autonomous mobile robots (AMRs), and mobile manipulators, enabling you to develop and validate robotics software without access to physical Qualcomm robot prototypes.Documentation Index
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Why it exists
Hardware-in-the-loop testing is slow and expensive. QRB ROS Simulation lets you run full sensor stacks, joint controllers, and navigation pipelines entirely in software. You get realistic physics, simulated LiDAR, IMU, RGB and depth cameras, and odometry — all publishing on standard ROS topics — so code validated in simulation transfers directly to real hardware.Package architecture
The project is composed of two ROS 2 packages that work together:qrb_ros_sim_description— Contains all description assets referenced by the simulation: URDF models, mesh files, and sensor descriptions. These assets are consumed by Gazebo to render robots and environments.qrb_ros_sim_gazebo— 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 bridge stack.
Key features
Robot models
Four pre-configured robots ready to launch: the RML-63 robotic arm, QRB Robot Base AMR, QRB Robot Base AMR Mini, and the QRB Mobile Manipulator.
Sensor suite
Simulated LiDAR, IMU, RGB camera, depth camera, and odometry — each publishing on standard ROS 2 sensor topics out of the box.
World environments
Multiple pre-built Gazebo worlds including warehouse, office, and follow-me path variants for a range of test scenarios.
ROS 2 Jazzy integration
Built for ROS 2 Jazzy with full ros-gz bridge support, exposing
/tf, /joint_states, /scan, /odom, and more to the ROS graph.Supported robot models
| Robot | Type | Launch file |
|---|---|---|
| RML-63 robotic arm | 6-DOF arm with gripper | gazebo_rml_63_gripper.launch.py |
| QRB Robot Base AMR | Autonomous mobile robot | gazebo_robot_base.launch.py |
| QRB Robot Base AMR Mini | Compact AMR variant | gazebo_robot_base_mini.launch.py |
| QRB Mobile Manipulator | AMR base with RML-63 arm | gazebo_mobile_manipulator.launch.py |