# Simulating AGV+Robot with ROS backend **URL:** \ **Category:** compas\_fab\ **Created:** [September 15, 2022, 12:34pm UTC](https://forum.compas-framework.org/t/simulating-agv-robot-with-ros-backend/623 "2022-09-15T12:34:16Z")\ **Posts on this page:** 2\ **Page:** 1
**Author:** ![ccyen](https://sea1.discourse-cdn.com/flex015/user_avatar/forum.compas-framework.org/ccyen/32/381_2.png) [@ccyen](https://forum.compas-framework.org/u/ccyen)\ **Post date:** [September 15, 2022, 12:34pm UTC](https://forum.compas-framework.org/t/simulating-agv-robot-with-ros-backend/623/1 "2022-09-15T12:34:16Z")
I’m going to work on a mobile robot project. It’s still at its early stage, so no physical robotic arm and AGV are involved. Everything would be in simulation, and any AGV / robot model would be good enough. Currently, I run ROS in a virtual machine, connect Rhino to ROS with compas\_fab, and request a path planning with Grasshopper components. Everything works like a charm so far with robots that have a fixed joint with the World link. I wonder if the similar workflow could apply to a mobile robot. Say, input a mesh with `collision mesh` component as a dummy lidar scan, send a target coordinate with `publish to topic`, and visualize the result with `Trajectory visualize`. Is this possible with the latest release of compas\_fab (0.26.0)? I’m investigating using Gazebo with Rhino, because most tutorials of simulating AGV in ROS involve this package. Any hint on this topic will be very appreciated. ---
**Author:** ![gonzalocasas](https://sea1.discourse-cdn.com/flex015/user_avatar/forum.compas-framework.org/gonzalocasas/32/127_2.png) [@gonzalocasas](https://forum.compas-framework.org/u/gonzalocasas)\ **Post date:** [September 16, 2022, 12:08pm UTC](https://forum.compas-framework.org/t/simulating-agv-robot-with-ros-backend/623/2 "2022-09-16T12:08:55Z")
Yes, I believe that should work. If something doesn’t, please do post here or submit a github issue. Cheers!