Develop a sample ROS2 application - Qualcomm Dragonwing Documentation

This information describes how to use the QIR SDK toolchain to compile a simple ROS 2 sample application. The demos and code for both Python and C++ development are available as examples.

Install the prebuilt `QIR SDK` to the host computer

On the host computer, go to the artifacts directory and decompress QIR SDK using the tar command:

cd <decompressed_workspace>/target/qcs9075-iq-9075-evk/qirpsdk_artifacts/qcs9075-iq-9075-evk
tar -zxvf qirp-sdk_<qirp_version>.tar.gz

This command generates the qirp-sdk directory.

Note

The qirp-sdk_<qirp_version>.tar.gz is located in the deployed path of QIR artifacts. The <qirp_version> changes with each release, such as 2.0.0, 2.0.1. For example, the complete package name can be qirp-sdk_2.7.0.tar.gz.
For all released versions, see Qualcomm® Intelligent Robotics SDK (QIR SDK) 2.0 Release Notes.
The QIR SDK supports these development kits for Qualcomm Linux:
Development kit Machine name
Qualcomm Dragonwing^TM IQ-9075 EVK iq-9075-evk
Qualcomm Dragonwing^TM IQ-8275 EVK iq-8275-evk

Development kit	Machine name
Qualcomm Dragonwing^TM IQ-9075 EVK	`iq-9075-evk`
Qualcomm Dragonwing^TM IQ-8275 EVK	`iq-8275-evk`

Using QIR SDK to develop applications

Set up the cross-compile environment.

cd <decompressed_workspace>/target/qcs9075-iq-9075-evk/qirpsdk_artifacts/qcs9075-iq-9075-evk/qirp-sdk
source setup.sh

Fetch the project as the code baseline.

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

Develop your own application either in C++ or Python.

Develop ROS application using C++
Develop ROS application using Python

Develop your own C++ application. The following is an example.

cd demos/demo_nodes_cpp
vim src/topics/talker.cpp +46

Change the demo_nodes_cpp/src/topics/talker.cpp msg data in line 46:

msg_->data = "Hello World : Qualcomm : " + std::to_string(count_++);

Set the necessary environment variables and use the colcon tool to build the ROS2 package demo_nodes_cpp and its dependencies.
```
colcon build --merge-install --packages-up-to demo_nodes_cpp --cmake-args ${CMAKE_ARGS}
```

Push the demo to the device.

cd 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) mount -o remount,rw /usr
(ssh) tar --no-overwrite-dir --no-same-owner -zxf /opt/demo_nodes_cpp.tar.gz -C /usr/

Run the demo application on the device. i. On the first terminal, run these commands:

(ssh) source /usr/share/qirp-setup.sh
(ssh) ros2 run demo_nodes_cpp talker

ii. On the second terminal, run these commands:

(ssh) source /usr/share/qirp-setup.sh
(ssh) ros2 run demo_nodes_cpp listener

Check the output. Terminal 1 output:

[INFO] [1739864779.759719598] [talker]: Publishing: 'Hello World : Qualcomm : 1'
[INFO] [1739864780.759687179] [talker]: Publishing: 'Hello World : Qualcomm : 2'
[INFO] [1739864781.760812014] [talker]: Publishing: 'Hello World : Qualcomm : 3'
...

Terminal 2 output:

[INFO] [1739864779.760348380] [listener]: I heard: [Hello World : Qualcomm : 1]
[INFO] [1739864780.760276535] [listener]: I heard: [Hello World : Qualcomm : 2]
[INFO] [1739864781.762066296] [listener]: I heard: [Hello World : Qualcomm : 3]
...

Develop your own Python application. The following is an example.

cd demos/demo_nodes_py
vim demo_nodes_py/topics/talker.py +33

Change the demo_nodes_py/topics/talker.py msg data in line 33:

msg.data = 'Hello World : Qualcomm : {0}'.format(self.i)

Set the necessary environment variables and use the colcon tool to build the ROS 2 package demo_nodes_py and its dependencies.
```
colcon build --merge-install --packages-up-to demo_nodes_py
```