Manager: Library interface.
Virtual Path Manager: Manages waypoints and virtual paths and computes the follow-path.
Follow Path Planner: Sends linear speed and angular speed to Robot Base Controller, checks for obstacles on the follow path and supports dynamic obstacle avoidance.
Obstacle Detector: Uses laser scan and a grid map to detect dynamic obstacles.
PID Controller: Computes the speed and checks if the target pose is reached.
|
| [Robot Base and Robot Base Controller](https://github.com/qualcomm-qrb-ros/qrb_ros_robot_base) | This is a ROS2 package for AMR base control. |
| 2D lidar SLAM ROS and 2D lidar SLAM | Provides mapping and localization. |
| 2D lidar ROS | Provides lidar data. |
## `qrb_ros_follow_path_service` APIs
qrb_ros_follow_path_service APIs
| Interface | Name | Type | Description |
| --- | --- | --- | --- |
| Subscriber | developer\_mode | `std_msgs::msg::Int16` | Receives debugging information. |
| Subscriber | robot\_base\_exception | `qrb_ros_robot_base_msgs::msg::Exception` | Receives exception information. |
| Service server | virtual\_path | `qrb_ros_navigation_msgs::srv::VirtualPath` | Manages waypoints or the virtual path. |
| Service server | compute\_follow\_path | `qrb_ros_navigation_msgs::srv::ComputeFollowPath` | Computes the follow-path, including the passing through waypoints. |
| Service server | follow\_path\_sub\_cmd | `qrb_ros_amr_msgs::srv::SubCmd` | Cancel, pause or resume follow path |
| Action server | wfollowpath | `qrb_ros_navigation_msgs::action::FollowPath` | Request a follow path navigation |
## 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 out-of-the-box `qrb_ros_follow_path` service
Note
Run the following commands on the device unless otherwise specified.
**Steps**
1. Install the `qrb_ros_follow_path` 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-follow-path-manager
sudo apt install ros-jazzy-qrb-ros-follow-path
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2. Set up 2D lidar SLAM by completing the steps 1-6 in [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). Ensure that the mapping is completed.
3. Set up the sample environment on the device.
source /opt/ros/jazzy/setup.bash
source install/setup.bash
ros2 launch qrb_ros_follow_path qrb_ros_follow_path_bringup.launch.py
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4. Test the follow-path service.
- You can implement a ROS node according to table 31 to complete the follow-path navigation.
- You also can use these ROS commands to complete the follow-path navigation.
1. Install `rqt-robot-steering` on the host computer (Ubuntu 24.04).
sudo apt install ros-jazzy-rqt-robot-steering
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2. Run `rqt-robot-steering` on the host computer.
ros2 run rqt_robot_steering rqt_robot_steering
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3. Use `rqt_robot_steering` to move the robot base to an expected position.
4. Install and set up rviz2 on the host computer (Ubuntu 24.04).
sudo apt install ros-jazzy-rviz2
ros2 run rviz2 rviz2
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5. Get the pose from rviz and convert the pose to a 2D position (x,y,angle).
6. Add a waypoint with the current position.
For example, if the current position is (0.1, 0.3, 3.0), use the following command:
ros2 service call /virtual_path qrb_ros_navigation_msgs/srv/VirtualPath "{api_id: 2, waypoint: {x: 0.1, y: 0.3, z: 3.0}}"
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Get the waypoint ID from the service response. For example, waypoint ID is 1.
7. Use `rqt_robot_steering` to move the robot base to another position.
8. Get the pose from `rviz` and convert the pose to a 2D position (x,y,angle).
9. Add a waypoint with the current position.
For example, if the current position is (0.3, 0.1, 3.0), use the following command:
ros2 service call /virtual_path qrb_ros_navigation_msgs/srv/VirtualPath "{api_id: 2, waypoint: {x: 0.3, y: 0.1, z: 3.0}}"
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Get the waypoint id from service respond. For example, waypoint ID is 2.
10. Set the virtual path between waypoint (id = 2) and waypoint (id = 1).
ros2 service call /virtual_path qrb_ros_navigation_msgs/srv/VirtualPath "{api_id: 6, waypoint_id: 1, adjacent_waypoints: [2]}"
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11. Start a follow-path operation from waypoint (id = 2) to waypoint (id = 1).
ros2 action send_goal /wfollowpath qrb_ros_navigation_msgs/action/FollowPath "{goal: 1}"
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## Build from source and run the `follow-path` service
**Device steps**
1. Install the dependencies.
sudo apt install ros-jazzy-nav2-msgs
sudo apt install ros-jazzy-nav-2d-msgs
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2. Download and build.
source /opt/ros/jazzy/setup.bash
git clone https://github.com/qualcomm-qrb-ros/qrb_ros_follow_path_service.git
git clone https://github.com/qualcomm-qrb-ros/qrb_ros_interfaces.git
colcon build
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3. Run and test according to step 2 to step 4 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).
Last Published: Sep 07, 2026
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