# Simulation sample—AMR simple motion
`AMR simple motion` is a simulated sample application that uses a Python-based ROS node to control the movements of QRB autonomous moving robots (AMRs) within the simulator.
The [QRB ROS Simulation](https://github.com/qualcomm-qrb-ros/qrb_ros_simulation) package provides the simulation environment. It allows you to control the movement of QRB AMRs through publishing the ROS messages to the `/qrb_robot_base/cmd_vel` topic.
Note
For more information, see the [Simulation Sample AMR Simple Motion](https://github.com/qualcomm-qrb-ros/qrb_ros_samples/tree/main/robotics/simulation_sample_amr_simple_motion) GitHub repo.
## Pipeline flow for AMR simple motion
## ROS nodes used in the AMR simple motion pipeline
| ROS node | Description |
| --- | --- |
| `qrb_ros_simulation` | `qrb ros simulation` is a ROS package that sets up the Qualcomm robotic simulation environment. For details, see [QRB ROS Simulation](https://github.com/qualcomm-qrb-ros/qrb_ros_simulation). |
## ROS topics used in the AMR simple motion pipeline
| ROS Topic | Type | Published by |
| --- | --- | --- |
| `/qrb_robot_base/cmd_vel` | `geometry_msgs::msg::Twist` | `simulation_sample_amr_simple_motion` |
## Prerequisites
You have completed the following settings in [Set up the environment for running sample applications](https://docs.qualcomm.com/doc/80-70020-265/topic/quick_start.html#setup-demo-qs) (Skip the settings of **Set up host docker**).
- Set up the device
- Set up the host computer
### Set up the simulation environment
Launch the **QRB Robot Base AMR** on the host according to steps in [QRB ROS Simulation](https://github.com/qualcomm-qrb-ros/qrb_ros_simulation).
## Run out-of-the-box AMR simple motion
On the dev kit, run the following commands:
>
>
> # setup runtime environment
> (ssh) source /usr/share/qirp-setup.sh
>
> # Set the ROS_DOMAIN_ID
> (ssh) export ROS_DOMAIN_ID=123
>
> ros2 run simulation_sample_amr_simple_motion simple_motion
> Copy to clipboard
**Result**
If the ROS node is launched successfully, the log starting from `=== AMR Simple Motion Control Usage: ===` appears.
Then, you can input the motion control commands and check the movement status of the QRB AMR within the simulator on the host.
## Build and run AMR simple motion
1. On the host, run the following commands:
>
>
> Note
>
> - ``: Version of the QIR SDK, see [QIR SDK 2.0 Release Notes](https://docs.qualcomm.com/bundle/publicresource/topics/80-70020-260).
> - ``: The path where the QIR SDK is decompressed.
>
> 1. Build the sample application project.
>
>
>
> >
> >
> > # Set up the QIR SDK environment
> > cd /target/qcs6490-rb3gen2-vision-kit/qirpsdk_artifacts/qcs6490-rb3gen2-vision-kit
> > tar -zxf qirp-sdk_.tar.gz
> > cd /qirp-sdk
> > source setup.sh
> >
> > # build sample
> > cd /qirp-sdk/qirp-samples/robotics/simulation_sample_amr_simple_motion
> > colcon build
> > Copy to clipboard
> 2. Package and push the sample application to the device.
>
>
>
> >
> >
> > # package and push build result of sample
> > cd /qirp-sdk/qirp-samples/robotics/simulation_sample_amr_simple_motion/install/simulation_sample_amr_simple_motion
> > tar -czf simulation_sample_amr_simple_motion.tar.gz lib share
> > scp simulation_sample_amr_simple_motion.tar.gz root@[ip-addr]:/opt/
> > Copy to clipboard
2. On the dev kit, run the following commands:
>
>
> 1. Install the sample application package.
>
>
>
> >
> >
> > # Remount the /usr directory with read-write permissions
> > (ssh) mount -o remount rw /usr
> >
> > # Install sample package
> > (ssh) tar --no-same-owner -zxf /opt/simulation_sample_amr_simple_motion.tar.gz -C /usr/
> > Copy to clipboard
> 2. Run the sample application with the steps in [Run out-of-the-box AMR simple motion](https://docs.qualcomm.com/doc/80-70020-265/topic/simulation_sample_amr_simple_motion.html#run-amr-simple-motion).
Last Published: Oct 10, 2025
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