Welcome to Qualcomm Intelligent Robotics Product (QIRP) SDK

This is the layer designed to generate QIRP(Qualcomm Intelligent Robotics Product) SDK. The QIRP SDK is designed to deliver out-of-box robotics samples and easy-to-develop experience on Qualcomm robotics platforms.

This documentation is intended to help you understand the basic features of the QIRP SDK and get started it quickly. And you will learn:

What is the QIRP SDK
How to sync and build QIRP SDK
How to install QIRP SDK
How to run samples on QIRP SDK
How to develop application with QIRP SDK

What is the QIRP SDK

Welcome to use the Qualcomm® Intelligent Robotics Product SDK (QIRP SDK) 2.0. This SDK is applicable to the Qualcomm® Linux releases. QIRP SDK is a collection of components that enable a developer to realize robotics features on Qualcomm Platforms. The QIRP SDK provides the following:

Out-of-box samples

ROS packages serve as a reference or code base for helping developers quickly develop their Robotics applications.
E2E scenario samples. Help developers evaluate the robotics platforms as systematic solution.

Easy-to-develop experience

Various ROS packages for robotics applications.
Integrated cross-compile toolchain, which includes common build tools, such as aarch64-oe-linux-gcc, make, cmake, and ROS core. Developers can build their applications with their familiar approaches.
Tools and scripts to help customers accelerate the development.
Documents that describe how to set up the QIRP SDK and tutorials on how to quickly start to develop your own applications.

The purpose of this document is to help a developer get started with the QIRP SDK. The scope of this document primarily covers how to generate the QIRP SDK, install QIRP SDK, run sample applications, and guide you through developing your first sample application.

How to sync and build QIRP SDK

Host Setup and Download the Yocto Project BSP

Refer to https://github.com/qualcomm-linux/qcom-manifest/blob/qcom-linux-scarthgap/README.md setup the host environment.

Download the layer of QIRP SDK

Based on the <workspace> directory of the downloaded Yocto Project BSP, execute the following command to download the required layers.

cd <workspace>
repo init -u https://github.com/quic-yocto/qcom-manifest -b [branch name] -m [release manifest]
repo sync -c -j8

Example:

To download the qcom-6.6.65-QLI.1.4-Ver.1.1_robotics-product-sdk-1.1.xml release, run this command:

repo init -u https://github.com/quic-yocto/qcom-manifest -b qcom-linux-scarthgap -m qcom-6.6.65-QLI.1.4-Ver.1.1_robotics-product-sdk-1.1.xml
repo sync -c -j8

Build QIRP SDK

cd <workspace>

MACHINE=<Machine_name> DISTRO=<Distro_name>  QCOM_SELECTED_BSP=<Build_override> source setup-robotics-environment <Build_directory>

../qirp-build qcom-robotics-full-image

Parameter	RB3 Gen2 Vision kit	IQ9	IQ8
Machine_name	qcs6490-rb3gen2-vision-kit	qcs9075-rb8-core-kit	qcs8300-ride-sx
Distro_name	qcom-robotics-ros2-jazzy	qcom-robotics-ros2-jazzy	qcom-robotics-ros2-jazzy
Build_override	custom	custom	custom
		base	base
Build_directory	build-qcs6490-custom	build-qcs9100-custom	build-qcs8300-custom
		build-qcs9100-base	build-qcs8300-base

Results for different machines:

RB3 Gen2 Vision Kit (qcs6490-rb3gen2-vision-kit)

QIRP SDK artifacts: <workspace>/build-qcs6490-custom/tmp-glibc/deploy/qirpsdk_artifacts/qirp-sdk_<version>.tar.gz

Robotics image: <workspace>/build-qcs6490-custom/tmp-glibc/deploy/images/qcs6490-rb3gen2-vision-kit/qcom-robotics-full-image

IQ9 (qcs9075-rb8-core-kit, using the custom build override as an example)

QIRP SDK artifacts: <workspace>/build-qcs9100-custom/tmp-glibc/deploy/qirpsdk_artifacts/qirp-sdk_<version>.tar.gz

Robotics image: <workspace>/build-qcs9100-custom/tmp-glibc/deploy/images/qcs9075-rb8-core-kit/qcom-robotics-full-image

Ride SX (qcs8300-ride-sx, using the custom build override as an example)

QIRP SDK artifacts: <workspace>/build-qcs8300-custom/tmp-glibc/deploy/qirpsdk_artifacts/qirp-sdk_<version>.tar.gz

Robotics image: <workspace>/build-qcs8300-custom/tmp-glibc/deploy/images/qcs8300-ride-sx/qcom-robotics-full-image

How to install QIRP SDK

Flash robotics image

Flash the robotics image to the device, see the Flash image , using the robotics image generated with previous steps.

Prerequisite

The prebuilt robotics image is flashed.
SSH is enabled in ‘Permissive’ mode with the steps mentioned in Use SSH.

Install QIRP SDK on the device

On the host machine, move to the artifacts directory and decompress the package using the tar command.

tar -zxf qirp-sdk_<qirp_version>.tar.gz

Note: The qirp-sdk_<qirp_version>.tar.gz is in the deployed path of QIRP artifacts. The <qirp_version> changes with each release, such as 2.0.0, 2.0.1. For example, the whole package name can be qirp-sdk_2.0.0.tar.gz. For all released versions, see the QIRP SDK release notes.

To deploy the QIRP artifacts, push the QIRP files to the device using the following commands.

cd <qirp_decompressed_workspace>
(ssh) mount -o remount,rw /usr
scp ./runtime/qirp-sdk.tar.gz root@[ip-addr]:/opt/
ssh root@[ip-addr]
(ssh) cd /opt && tar -zxf ./qirp-sdk.tar.gz
(ssh) chmod +x /opt/scripts/*.sh
(ssh) cd /opt/scripts && ./install.sh

How to run samples on QIRP SDK

The QIRP SDK provides the sample applications that users can run to experience the basic functionality on the device.

Example 1 - IMU ROS Node

The Qualcomm Sensor See Framework provides the IMU data that is obtained from the IMU driver via DSP. The qrb_ros_imu uses this framework to get the latest IMU data with little latency.

Prerequisite

The prebuilt robotics image is flashed.
SSH is enabled in ‘Permissive’ mode with the steps mentioned in Use SSH.

Set up QIRP SDK and ROS2 environment in each terminal on device

ssh root@[ip-addr]
(ssh) export HOME=/opt
(ssh) source /usr/share/qirp-setup.sh
(ssh) export ROS_DOMAIN_ID=xx
(ssh) source /usr/bin/ros_setup.bash

Open terminal 1 and run the IMU ROS Node

(ssh) ros2 run qrb_ros_imu imu_node

Open terminal 2 and get the IMU data.

(ssh) ros2 topic echo /imu

Example 2 - Orbbec Camera ROS Node

The orbbec-camera ROS node makes the Orbbec camera 335L work properly in RGB or depth mode. It can generate the RGB and depth information by ROS topics.

Prerequisite

The prebuilt robotics image is flashed.
SSH is enabled in ‘Permissive’ mode with the steps mentioned in Use SSH.
The Orbbec camera 335L is available. For details, see Orbbec Gemini 335L Product Page.

Set up QIRP SDK and ROS2 environment in terminal on device

ssh root@[ip-addr]
(ssh) mount -o remount,rw /usr
(ssh) export HOME=/opt
(ssh) source /usr/share/qirp-setup.sh
(ssh) cd /usr/share/orbbec_camera/scripts/
(ssh) bash install_udev_rules.sh
(ssh) udevadm control --reload-rules && udevadm trigger
(ssh) source ../scripts/dds_config.sh
(ssh) ros2 launch orbbec_camera gemini_330_series.launch.py

How to develop application with QIRP SDK

The following example provides a general procedure for developing your first application using the QIRP SDK.

Prerequisite

The prebuilt robotics image is flashed.
SSH is enabled in ‘Permissive’ mode with the steps mentioned in Use SSH.

Set up the cross-compile environment

cd <qirp_decompressed_path>/qirp-sdk
source setup.sh

Fetch the project and develop your own code

git clone https://github.com/ros2/demos.git -b jazzy

Change the demos/demo_nodes_cpp/src/topics/talker.cpp msg data in line46, such as changing 'Hello world' to 'get message success'：

46:msg_->data = "get message success " + std::to_string(count_++);

Compile the application

export AMENT_PREFIX_PATH="${OECORE_TARGET_SYSROOT}/usr;${OECORE_NATIVE_SYSROOT}/usr"
export PYTHONPATH=${PYTHONPATH}:${OECORE_TARGET_SYSROOT}/usr/lib/python3.10/site-packages
colcon build --merge-install --cmake-args \
-DPython3_ROOT_DIR=${OECORE_TARGET_SYSROOT}/usr \
-DPython3_NumPy_INCLUDE_DIR=${OECORE_TARGET_SYSROOT}/usr/lib/python3.10/site-packages/numpy/core/include \
-DCMAKE_STAGING_PREFIX=$(pwd)/install \
-DCMAKE_PREFIX_PATH=$(pwd)/install/share \
-DBUILD_TESTING=OFF \
--packages-up-to demo_nodes_cpp

Push the application to device

cd demos/demo_nodes_cpp/install
tar -czvf demo_nodes_cpp.tar.gz lib share
scp demo_nodes_cpp.tar.gz root@[ip-addr]:/opt/
ssh root@[ip-addr]
(ssh) tar -zxf /opt/demo_nodes_cpp.tar.gz -C /usr/

Run the demo application on the device

(ssh) export HOME=/opt
(ssh) source /usr/bin/ros_setup.sh && source /usr/share/qirp-setup.sh
(ssh shell 1) ros2 run demo_nodes_cpp talker
(ssh shell 2) ros2 run demo_nodes_cpp listener

Reference

Yocto Project Quick Build — The Yocto Project ® 5.0.7 documentation

qcom-manifest/README.md at qcom-linux-scarthgap · qualcomm-linux/qcom-manifest

Name		Name	Last commit message	Last commit date
Latest commit History 40 Commits
classes		classes
conf		conf
recipes-sdk		recipes-sdk
scripts		scripts
README.md		README.md

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Welcome to Qualcomm Intelligent Robotics Product (QIRP) SDK

What is the QIRP SDK

How to sync and build QIRP SDK

Host Setup and Download the Yocto Project BSP

Download the layer of QIRP SDK

Build QIRP SDK

How to install QIRP SDK

How to run samples on QIRP SDK

Example 1 - IMU ROS Node

Example 2 - Orbbec Camera ROS Node

How to develop application with QIRP SDK

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Welcome to Qualcomm Intelligent Robotics Product (QIRP) SDK

What is the QIRP SDK

How to sync and build QIRP SDK

Host Setup and Download the Yocto Project BSP

Download the layer of QIRP SDK

Build QIRP SDK

How to install QIRP SDK

How to run samples on QIRP SDK

Example 1 - IMU ROS Node

Example 2 - Orbbec Camera ROS Node

How to develop application with QIRP SDK

Reference

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