Low Power Manager: Returns to charging station when battery < 2.2V.
Manager: Library interface.
State Machine: Manages AMR state and actions.
|
| Follow Path Service & Follow Path Manager | ROS2 package for path following navigation |
| Robot Base & Robot Base Controller | ROS2 package for AMR base control. |
| 2D lidar SLAM ROS and 2D lidar SLAM | Provides mapping and localization. |
| Nav2 | Provides P2P navigation. |
## `qrb_ros_amr_service` APIs
| Interface | Name | Type | Description |
| --- | --- | --- | --- |
| Publisher | amr\_status | `qrb_ros_amr_msgs::msg::AMRStatus` | Publishes AMR status. |
| Subscriber | test | `std_msgs::msg::Int16` | Receives the debugging information. |
| Subscriber | debug\_exception | `std_msgs::msg::Int16` | Receives the simulated exception information. |
| Service Server | sub\_cmd | `qrb_ros_amr_msgs::srv::SubCmd` | Handles sub-command requests. |
| Service Server | amr\_mapping | `qrb_ros_amr_msgs::srv::Mapping` | Handles mapping requests. |
| Service Server | api | `qrb_ros_amr_msgs::srv::API` | Handles API requests. |
| Action Server | cmd | `qrb_ros_amr_msgs::action::Cmd` | Handles navigation commands. |
## 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).
## Run the out-of-the-box AMR service
Note
Run the following commands on the device unless otherwise specified.
**Steps**
1. Install the amr service packages.
sudo apt install ros-jazzy-nav2-msgs
sudo apt install ros-jazzy-nav-2d-msgs
sudo apt install ros-jazzy-qrb-ros-amr-msgs
sudo apt install ros-jazzy-qrb-ros-navigation-msgs
sudo apt install ros-jazzy-qrb-amr-manager
sudo apt install ros-jazzy-qrb-ros-amr
Copy to clipboard
2. Set up 2D Lidar SLAM.
Run step 1 to step 5 of [Run out-of-the-box 2D lidar SLAM](https://docs.qualcomm.com/doc/80-90441-2/topic/enable-2d-lidar-slam-with-cartographer_node-and-cartographer_occupancy_grid_node.html#run-out-box-2d-lidar-slam) to launch 2D Lidar SLAM, skipping step 6.
3. Set up the follow-path service according to step 1 to step 3 of [Run out-of-the-box qrb\_ros\_follow\_path service](https://docs.qualcomm.com/doc/80-90441-2/topic/test-follow-path-with-the-qrb_ros_follow_path-service.html#run-qrb-ros-follow-path-service).
4. Install the nav2 package and set up nav2.
sudo apt install ros-jazzy-navigation2 ros-jazzy-nav2-bringup ros-jazzy-nav2-route
ros2 launch nav2_bringup navigation_launch.py
Copy to clipboard
5. Set up the sample environment on the device.
source /opt/ros/jazzy/setup.bash
source install/setup.bash
ros2 launch qrb_ros_amr qrb_ros_amr_bringup.launch.py
Copy to clipboard
6. Test the AMR service.
- You can implement a ROS node according to table 33 to complete the mapping, follow-path and P2P navigation.
- You can also use these ROS commands to complete the mapping, follow-path and P2P navigation.
1. Install `rqt-robot-steering` on the host computer (Ubuntu 24.04)
sudo apt install ros-jazzy-rqt-robot-steering
Copy to clipboard
2. Run `rqt-robot-steering` on the host computer.
ros2 run rqt_robot_steering rqt_robot_steering
Copy to clipboard
3. Initiate the AMR.
ros2 service call /api qrb_ros_amr_msgs/srv/API "{api_id: 1}"
Copy to clipboard
4. Start mapping.
ros2 service call /amr_mapping qrb_ros_amr_msgs/srv/Mapping "{cmd: 2}"
Copy to clipboard
5. Install and set up rviz2 on the host computer.
sudo apt install ros-jazzy-rviz2
ros2 run rviz2 rviz2
Copy to clipboard
6. Use `rqt-robot-steering` to control the movement of the robot base.
7. Stop mapping.
ros2 service call /amr_mapping qrb_ros_amr_msgs/srv/Mapping "{cmd: 3}"
The base starts to rotate, and after a period of time, it stops rotating. The map is displayed properly on rviz.
Copy to clipboard
8. Start a P2P navigation.
ros2 action send_goal /cmd qrb_ros_amr_msgs/action/Cmd "{command: 3, goal: {header: {frame_id: 'map'}, pose: {position: {x: 0.0, y: 0.0, z: 0.0}, orientation: {x: 0.0, y: 0.0, z: 0.0, w: 2.0}}}}"
The pose can be replaced by a real value of map.
Copy to clipboard
9. Pause the current P2P navigation.
ros2 service call /sub_cmd qrb_ros_amr_msgs/srv/SubCmd "{ subcommand: 2}"
Copy to clipboard
10. Resume the current P2P navigation.
ros2 service call /sub_cmd qrb_ros_amr_msgs/srv/SubCmd "{ subcommand: 3}"
Copy to clipboard
11. After the P2P navigation is completed, set the waypoint and virtual path according to step 4 (a to j) of follow-path Run out-of-the-box steps.
12. Use `rqt-robot-steering` to move the robot base to waypoint (id = 2).
13. Start a follow-path operation from waypoint (id = 2) to waypoint (id = 1).
ros2 action send_goal /cmd qrb_ros_amr_msgs/action/Cmd "{command: 6, goal_id: 1}"
Copy to clipboard
## Build from source and run AMR service
**Device steps**
1. Install the dependencies.
sudo apt install ros-jazzy-nav2-msgs
sudo apt install ros-jazzy-nav-2d-msgs
Copy to clipboard
2. Download and build.
source /opt/ros/jazzy/setup.bash
git clone https://github.com/qualcomm-qrb-ros/qrb_ros_amr_service.git
git clone https://github.com/qualcomm-qrb-ros/qrb_ros_interfaces.git
colcon build
Copy to clipboard
3. Run and test according to steps 2 to 6 of [Run the out-of-the-box AMR service](https://docs.qualcomm.com/doc/80-90441-2/topic/run-basic-amr-functionality-with-the-amr-service.html#run-out-box-amr-service).
Last Published: Sep 07, 2026
[Previous Topic
Test follow-path with the qrb\_ros\_follow\_path service](https://docs.qualcomm.com/bundle/publicresource/80-90441-2/topics/test-follow-path-with-the-qrb_ros_follow_path-service.md) [Next Topic
Enable AprilTag Pipeline with sample\_apriltag](https://docs.qualcomm.com/bundle/publicresource/80-90441-2/topics/enable-AprilTag-Pipeline-with-sample-apriltag.md)