# Enable pick-and-place in the simulator with `simulation_sample_pick_and_place`
The RML-63 Robotic Arm Pick and Place sample application implements a C++ based ROS2 node. It shows autonomous pick-and-place operations using MoveIt2 for motion planning and Gazebo for physics simulation.
Following is a sample result showing the pick-and-place operation of the robot base in a simulator.
## `simulation_sample_pick_and_place` software structure
The figure shows the software structure of `simulation_sample_pick_and_place`.
**`simulation_sample_pick_and_place` software structure**
## ROS node used in the `simulation_sample_pick_and_place` software structure
| ROS node | Description |
| --- | --- |
| qrb\_ros\_simulation | Sets up the Qualcomm robotic simulation environment. See [qrb_ros_simulation](https://github.com/qualcomm-qrb-ros/qrb_ros_simulation). |
| qrb\_ros\_arm\_pick\_and\_place | Defines pick and place positions with ROS2 launch.py configuration parameter support |
## ROS topics used in the `simulation_sample_pick_and_place` software structure
| ROS topic | Type | Description |
| --- | --- | --- |
| `/joint_states` | `` | Real-time joint position, velocity, and effort data for all robot joints. |
| `/hand_controller/controller_state` | `` | Current state and status information of the gripper controller. |
| `/hand_controller/joint_trajectory` | `` | Trajectory commands sent to gripper joints for motion execution. |
| `/rm_group_controller/controller_state` | `` | Current state and status information of the robotic arm controller. |
| `/rm_group_controller/joint_trajectory` | `` | Trajectory commands sent to arm joints for motion execution. |
| `/robot_description` | `` | URDF robot description in XML format for robot modeling and visualization. |
| `/robot_description_semantic` | `` | SRDF semantic robot description for MoveIt planning and configuration. |
## Prerequisites
- You have set up the device, installed ROS2 Jazzy and QIR SDK on the device according to [Install the QIR SDK](https://docs.qualcomm.com/doc/80-90441-2/topic/2-install-the-qir-sdk.html#install-qir-sdk).
## Build from the source of `simulation_sample_pick_and_place`
**Device steps**
1. Install dependencies.
1. Install qcom-adreno-dev to resolve conflicts with graphic libraries needed by Moveit2.
sudo apt install -y qcom-adreno-dev
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2. Install the QIR SDK to restore packages.
sudo apt install -y qirp-sdk
source /usr/share/qirp-setup.sh
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3. Install MoveIt for ROS 2 Jazzy.
sudo apt install -y ros-dev-tools
sudo apt install -y ros-jazzy-moveit
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2. Download source code from the `qrb_ros_samples` repository.
mkdir -p ~/qrb_ros_ws/src && cd ~/qrb_ros_ws/src
git clone -b jazzy-rel https://github.com/qualcomm-qrb-ros/qrb_ros_samples.git
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3. Build the sample from source code.
cd ~/qrb_ros_ws/src/qrb_ros_samples/robotics/simulation_sample_pick_and_place
rosdep install -i --from-path ./ --rosdistro jazzy -y
colcon build
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## Launch Gazebo on HOST Docker
**Steps**
1. Launch QRB Robot arm on the host according to the **Build from source** section of [QRB ROS Simulation](https://github.com/qualcomm-qrb-ros/qrb_ros_simulation). Use the same local network and `ROS_DOMAIN_ID` to ensure devices can communicate through ROS.
2. Launch Gazebo with the following commands:
source install/setup.bash
export ROS_DOMAIN_ID=55
ros2 launch qrb_ros_sim_gazebo gazebo_rml_63_gripper.launch.py world_model:=warehouse initial_x:=2.2 initial_y:=-2 initial_z:=1.025 initial_yaw:=3.14159 initial_pitch:=0.0 initial_roll:=0.0 use_sim_time:=true
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3. Select the **Play** button in Gazebo after the world environment renders, open another terminal, and use the following commands to launch the controller:
source install/setup.bash
export ROS_DOMAIN_ID=55
ros2 launch qrb_ros_sim_gazebo gazebo_rml_63_gripper_load_controller.launch.py
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## Run out-of-the-box `simulation_sample_pick_and_place`
**Steps**
To run the pick-and-place sample application in simulation, use the following commands:
>
>
> This launch file brings up the MoveIt2 configuration for the robot, and then executes a predefined pick-and-place motion using the arm.
>
>
> source install/setup.bash
> export ROS_DOMAIN_ID=55
> ros2 launch simulation_sample_pick_and_place simulation_sample_pick_and_place.launch.py
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Last Published: Sep 07, 2026
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