QRB ROS Simulation ships four pre-configured robot models, each ready to launch with a singleDocumentation Index
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ros2 launch command. The models range from a stationary 6-DOF robotic arm to autonomous mobile robots and a combined mobile manipulator. Each robot is defined by a URDF/xacro model in qrb_ros_sim_description and wired up to ROS 2 topics through the qrb_ros_sim_gazebo launch system.
RML-63 Robotic Arm
A 6-DOF robotic arm with gripper, controlled via joint trajectory actions.
QRB Robot Base AMR
A differential-drive autonomous mobile robot with LiDAR, IMU, and odometry.
QRB Robot Base AMR Mini
A compact variant of the AMR with the same sensor suite and a wider LiDAR field of view.
Mobile Manipulator
The AMR base and RML-63 arm combined into a single mobile manipulation platform.
Capability summary
The four models divide into two capability groups:| Robot | Differential drive (/cmd_vel) | Arm control (/rm_group_controller/...) |
|---|---|---|
| RML-63 Robotic Arm | No | Yes |
| QRB Robot Base AMR | Yes | No |
| QRB Robot Base AMR Mini | Yes | No |
| Mobile Manipulator | Yes | Yes |
For the RML-63 Robotic Arm and Mobile Manipulator, press the Play button in Gazebo before loading the controllers in the second terminal. The controller manager will not be reachable until the simulation is running.