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Provides the detailed information for the robotics layers used in QIR SDK. The QIR SDK includes both Qualcomm Linux layers and robotics layers. This information lists the details of all robotics layers.

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meta-ros

The meta-ros layer publishes its information to the meta-ros GitHub repository.

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meta-qcom-robotics-sdk

  • BitBake classes The following table lists the BitBake classes defined in the meta data layer meta-qcom-robotics-sdk:
    BitBake classDescription
    psdk-image.bbclassPackages the QIRP SDK for robotics images by collecting the toolchain, setup scripts, sample content, runtime scripts, and runtime packages into a distributable archive. Used by image recipes such as qcom-robotics-proprietary-image.
    robotics-package.bbclassProvides common packaging behavior for robotics SDK components, including install layout adjustment, package splitting, and QA/shlibs handling for ROS-style deliverables. By default, relocates installed files under /opt/qcom/qirp-sdk.
    rdepends-collector.bbclassCollects direct RDEPENDS from a packagegroup recipe and writes them to PACKAGEGROUP_LIST_DIR as a package list file. The generated *.list files are consumed by psdk-image.bbclass when assembling the final QIRP SDK archive.
    rootfs-symlink.bbclassCreates symbolic links inside the image root filesystem during post-processing. Reads link definitions from ROOTFS_SYMLINK_PAIRS and applies them using ln -snf semantics.
  • Distro configuration
    FileDescription
    conf/layer.confConfigures the project layer with the following information:
    • Recipe file paths (recipes/**/*.bb, recipes-**)
    • Collection name: meta-qcom-robotics-sdk
    • Layer priority: 13
    • Supported Yocto version: wrynose
    • ROS base prefix and unresolved dependency overrides
    conf/distro/qcom-robotics-ros2-jazzy.confPrimary ROS 2 Jazzy distro configuration. Requires qcom-robotics-sdk.inc and qcom-distro.conf. Sets DISTRO_NAME to “QCOM Robotics Reference Distro with ROS” and appends ros2-jazzy to DISTRO_FEATURES.
    conf/distro/include/qcom-robotics-sdk.incShared include file with common settings for all distro configurations.
  • Recipes
    RecipeDescription
    Cartographer / SLAM
    • cartographer_2.1.0.bb
    • cartographer-ros_2.1.0.bb
    • cartographer-ros-msgs_2.1.0.bb
    • qrb-ros-slam-msgs_2.1.0.bb
    Data Transport
    • dmabuf-transport_1.1.0.bb
    • lib-mem-dmabuf_1.1.0.bb
    • qrb-ros-transport-image-type_1.3.0.bb
    • qrb-ros-transport-imu-type_1.3.0.bb
    • qrb-ros-transport-point-cloud2-type_1.3.0.bb
    Libraries
    • libqrc_1.1.0.bb
    • libqrc-udriver_1.1.1.bb
    OCR Service
    • ocr-msg_1.0.0.bb
    • ocr-service_1.0.0.bb
    • python3-pytesseract_0.3.10.bb
    • python3-pytesseract_0.3.13.bb
    Orbbec Camera
    • orbbec-camera_1.5.10-1.bb
    • orbbec-camera-msgs_1.2.2-1.bb
    • orbbec-description_0.0.0-1.bb
    QRB ROS AMR Service
    • qrb-amr-manager_1.0.4.bb
    • qrb-ros-amr_1.0.4.bb
    QRB ROS Audio Service
    • qrb-audio-common-lib_1.0.3.bb
    • qrb-audio-service-lib_1.0.3.bb
    • qrb-ros-audio-common_1.0.3.bb
    • qrb-ros-audio-common-msgs_0.2.0.bb
    • qrb-ros-audio-service_1.0.3.bb
    • qrb-ros-audio-service-msgs_0.2.0.bb
    QRB ROS Benchmark
    • qrb-ros-benchmark_1.0.bb
    • ros2-benchmark_1.0.bb
    • ros2-benchmark-interfaces_1.0.bb
    QRB ROS Camera
    • qrb-camera_2.0.2.bb
    • qrb-ros-camera_2.0.2.bb
    QRB ROS Color Space Convert
    • qrb-colorspace-convert-lib_1.0.0.bb
    • qrb-ros-colorspace-convert_1.0.0.bb
    QRB ROS Docker
    • qrb-ros-docker_0.0.0.1.bb
    QRB ROS Follow Path Service
    • qrb-follow-path-manager_1.0.4.bb
    • qrb-ros-amr-msgs_0.2.0.bb
    • qrb-ros-follow-path_1.0.4.bb
    • qrb-ros-navigation-msgs_0.2.0.bb
    QRB ROS IMU
    • qrb-sensor-client_1.3.0.bb
    QRB ROS NN Inference
    • qrb-inference-manager_0.0.0.1.bb
    • qrb-ros-nn-inference_0.0.0.1.bb
    • qrb-ros-tensor-list-msgs_0.0.0.1.bb
    QRB ROS Robot Base
    • qrb-robot-base-manager.bb
    • qrb-ros-robot-base.bb
    • qrb-ros-robot-base-keyboard.bb
    • qrb-ros-robot-base-msgs.bb
    • qrb-ros-robot-base-urdf.bb
    QRB ROS System Monitor
    • qrb-ros-system-monitor_1.1.1.bb
    • qrb-ros-system-monitor-interfaces_1.1.1.bb
    QRB ROS Tensor Process
    • qrb-ros-cv-tensor-common-process_1.1.0.bb
    • qrb-ros-vision-msgs_0.2.0.bb
    • qrb-ros-yolo-process_1.1.0.bb
    • qrb-yolo-process-lib_1.1.0.bb
    QRB ROS Video
    • qrb-ros-video_0.1.7.bb
    • qrb-video-v4l2-lib_0.1.7.bb
    RPLidar
    • rplidar-ros2_2.1.2-1.bb
    Samples
    • sample-apriltag_1.0.0.bb
    • sample-depth-estimation_1.0.1.bb
    • sample-face-detection_0.0.1.bb
    • sample-hand-detection_1.0.0.bb
    • sample-hrnet-pose-estimation_1.0.0.bb
    • sample-object-detection_1.0.0.bb
    • sample-object-segmentation_1.0.0.bb
    • sample-remote-assistant_0.0.1.bb
    • sample-resnet101_1.0.1.bb
    • simulation-sample-amr-simple-motion_1.0.0.bb
    • simulation-sample-pick-and-place_1.0.1.bb
    Images
    • qcom-robotics-image.bb
    • qcom-robotics-proprietary-image.bb
    Package Groups
    • packagegroup-qcom-ros2.bb
    • packagegroup-robotics-opensource.bb
    • packagegroup-robotics-proprietary.bb
    • packagegroup-oss-with-prop-deps.bb
    SDK
    • qirp-sdk.bb
  • Recipe appends (recipes-bbappends)
    CategoryFiles
    Dev Toolsgraphicsmagick_1.3.45.bbappend
    Kernellinux-qcom_6.18.bbappend, linux-qcom-next_git.bbappend, lttng-modules_2.14.4.bbappend
    Samplessimulation-sample-pick-and-place_1.0.1.bbappend
    ROS Perception & Communicationapriltag_3.4.5-1.bbappend, apriltag-ros_3.3.0-1.bbappend, bondcpp_4.1.2-1.bbappend, domain-bridge_0.5.0-5.bbappend, foxglove-bridge_%.bbappend, geometric-shapes_2.3.2-1.bbappend, lapack_%.bbappend
    MoveIt Motion Planningchomp-motion-planner_%.bbappend, moveit-core_2.12.4-1.bbappend, moveit-kinematics_2.12.4-1.bbappend, moveit-planners-chomp_%.bbappend, moveit-planners-ompl_%.bbappend, moveit-ros-move-group_%.bbappend, moveit-ros-occupancy-map-monitor_%.bbappend, moveit-ros-perception_2.12.4-1.bbappend, moveit-ros-planning_%.bbappend, moveit-ros-planning-interface_%.bbappend, moveit-ros-warehouse_%.bbappend, moveit-simple-controller-manager_%.bbappend, pilz-industrial-motion-planner_%.bbappend
    Navigation2controller-interface_%.bbappend, control-toolbox_%.bbappend, costmap-queue_%.bbappend, diff-drive-controller_%.bbappend, dwb-core_%.bbappend, dwb-critics_%.bbappend, dwb-msgs_%.bbappend, dwb-plugins_%.bbappend, gz-cmake-vendor_%.bbappend, hardware-interface_%.bbappend, joint-limits_%.bbappend, joint-state-broadcaster_%.bbappend, nav2-amcl_%.bbappend, nav2-behaviors_%.bbappend, nav2-behavior-tree_%.bbappend, nav2-bringup_%.bbappend, nav2-bt-navigator_%.bbappend, nav2-collision-monitor_%.bbappend, nav2-constrained-smoother_%.bbappend, nav2-controller_%.bbappend, nav2-costmap-2d_%.bbappend, nav-2d-msgs_%.bbappend, nav-2d-utils_%.bbappend, nav2-graceful-controller_%.bbappend, nav2-lifecycle-manager_%.bbappend, nav2-map-server_%.bbappend, nav2-msgs_%.bbappend, nav2-navfn-planner_%.bbappend, nav2-planner_%.bbappend, nav2-regulated-pure-pursuit-controller_%.bbappend, nav2-rotation-shim-controller_%.bbappend, nav2-route_%.bbappend, nav2-smoother_%.bbappend, nav2-theta-star-planner_%.bbappend, nav2-util_%.bbappend, nav2-velocity-smoother_%.bbappend, nav2-voxel-grid_%.bbappend, nav2-waypoint-follower_%.bbappend, navigation2_%.bbappend, opennav-docking_%.bbappend, opennav-docking-bt_%.bbappend, pal-statistics_%.bbappend, python3-vcstool_%.bbappend, ros2-control-cmake_%.bbappend
    Additional Librariesnanoflann_%.bbappend, ompl_%.bbappend, osqp-vendor_0.2.0-4.bbappend, warehouse-ros_%.bbappend
    Containerslxc_git.bbappend
    Support Librariesceres-solver_%.bbappend, hdf5_2.0.0.bbappend