The QRB Robot Base is a differential-drive autonomous mobile robot (AMR) equipped with a LiDAR sensor, an IMU, and odometry. It is the most straightforward model to run: a single launch command starts Gazebo, spawns the robot, and brings up all sensor bridges automatically. No second terminal or Play button interaction is required.Documentation Index
Fetch the complete documentation index at: https://mintlify.com/qualcomm-qrb-ros/qrb_ros_simulation/llms.txt
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Launch the simulation
The QRB Robot Base AMR starts the simulation automatically. Unlike the arm models, you do not need to press the Play button in Gazebo before the sensors and drive topics are active.
Sending velocity commands
Control the robot’s motion by publishing to/cmd_vel:
ROS topics
Sensor topics
| Topic | Type | Description |
|---|---|---|
/scan | sensor_msgs/msg/LaserScan | LiDAR scan data (range 0.15 – 25.0 m, update rate 15 Hz) |
/imu | sensor_msgs/msg/Imu | Acceleration and angular velocity at 50 Hz |
/odom | nav_msgs/msg/Odometry | Wheel odometry: position and velocity |
Control and state topics
| Topic | Type | Description |
|---|---|---|
/cmd_vel | geometry_msgs/msg/Twist | Velocity command input (subscribed) |
/joint_states | sensor_msgs/msg/JointState | Wheel joint positions and velocities |
/tf | tf2_msgs/msg/TFMessage | Real-time coordinate frame transforms |
/tf_static | tf2_msgs/msg/TFMessage | Static coordinate frame transforms |
/robot_description | std_msgs/msg/String | URDF model published by robot_state_publisher |
/clock | rosgraph_msgs/msg/Clock | Simulation time |