The QRB Robot Base AMR Mini is a smaller variant of the QRB Robot Base AMR. It shares the same differential-drive architecture and sensor capabilities — LiDAR, IMU, and odometry — but uses a different LiDAR configuration tuned for its compact form factor. Like the standard AMR, launching it requires only a single command and starts the simulation automatically.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.
Launch the simulation
The AMR Mini starts the simulation automatically. You do not need to press the Play button in Gazebo before the sensors and drive topics are active.
Differences from the standard AMR
The AMR Mini uses a dedicated laser configuration file —qrb_robot_base_mini_laser_params.yaml — instead of the standard qrb_robot_base_laser_params.yaml. The key difference is the LiDAR horizontal scan coverage:
| Parameter | QRB Robot Base AMR | QRB Robot Base AMR Mini |
|---|---|---|
| Horizontal samples | 1150 | 1800 |
| Min angle (rad) | −2.005 | −3.124 |
| Max angle (rad) | 2.005 | 3.142 |
| Range min/max (m) | 0.15 / 25.0 | 0.15 / 25.0 |
| Update rate (Hz) | 15 | 15 |
| Topic | Type | Description |
|---|---|---|
/camera/color/image_raw | sensor_msgs/msg/Image | RGB camera image stream |
/camera/color/camera_info | sensor_msgs/msg/CameraInfo | RGB camera intrinsic parameters |
/camera/depth/image_raw | sensor_msgs/msg/Image | Depth image stream |
/camera/depth/camera_info | sensor_msgs/msg/CameraInfo | Depth camera intrinsic parameters |
/camera/depth/points | sensor_msgs/msg/PointCloud2 | 3D point cloud from depth camera |
Sending velocity commands
Control the robot by publishing to/cmd_vel:
ROS topics
| Topic | Type | Description |
|---|---|---|
/scan | sensor_msgs/msg/LaserScan | LiDAR scan data (~360°, 1800 samples, 15 Hz) |
/imu | sensor_msgs/msg/Imu | Acceleration and angular velocity at 50 Hz |
/odom | nav_msgs/msg/Odometry | Wheel odometry: position and velocity |
/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 |