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Documentation 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.

This guide walks you through installing dependencies, cloning the repository, building the packages, and launching your first simulated robot. By the end you will have a QRB Robot Base AMR running in Gazebo with a full sensor stack publishing to ROS 2 topics.
1

Install ROS 2 Jazzy and Gazebo

Install ROS 2 Jazzy on Ubuntu 24.04, then install Gazebo and the required ROS-Gazebo bridge packages:
sudo apt-get install -y ros-jazzy-ros-gz ros-jazzy-gz-ros2-control ros-jazzy-ros2-controllers
2

Clone the repo and download meshes

Create a workspace, clone the repository, and run the mesh download script. The meshes are not stored in Git and must be fetched separately.
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.sh
3

Build with colcon

Source the ROS 2 environment, then build all packages from the workspace root and source the install overlay:
source /opt/ros/jazzy/setup.bash
cd ~/qrb_ros_simulation_ws
colcon build
source install/local_setup.sh
4

Launch a robot

Launch the QRB Robot Base AMR in Gazebo:
ros2 launch qrb_ros_sim_gazebo gazebo_robot_base.launch.py
Gazebo opens with the robot spawned in the default warehouse world. The ros-gz bridge starts automatically, publishing sensor data to standard ROS 2 topics including /scan, /imu, /odom, and /tf. The simulation starts running immediately — no Play button required for the AMR.
The QRB Robot Base AMR is the simplest model to start with. To explore other robots — including the RML-63 robotic arm, AMR Mini, and Mobile Manipulator — see Robot Models.

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Next steps

Robot models

Explore all four pre-configured robots and their individual launch instructions.

Configuration

Customize world models, initial pose, sensor enable flags, and more.

ROS topics

Reference for all published and subscribed ROS topics and actions.

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