Robotics layers specifications

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.

• QIR robotics layers
  • meta-ros
  • meta-qcom-robotics-sdk

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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 class	Description
  psdk-image.bbclass	Packages 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.bbclass	Provides 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.bbclass	Collects 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.bbclass	Creates 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

  File	Description
  conf/layer.conf	Configures 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.conf	Primary 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.inc	Shared include file with common settings for all distro configurations.

• Recipes

  Recipe	Description
  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)

  Category	Files
  Dev Tools	graphicsmagick_1.3.45.bbappend
  Kernel	linux-qcom_6.18.bbappend, linux-qcom-next_git.bbappend, lttng-modules_2.14.4.bbappend
  Samples	simulation-sample-pick-and-place_1.0.1.bbappend
  ROS Perception & Communication	apriltag_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 Planning	chomp-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
  Navigation2	controller-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 Libraries	nanoflann_%.bbappend, ompl_%.bbappend, osqp-vendor_0.2.0-4.bbappend, warehouse-ros_%.bbappend
  Containers	lxc_git.bbappend
  Support Libraries	ceres-solver_%.bbappend, hdf5_2.0.0.bbappend