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To successfully run the sample applications provided by the QIR SDK, you must complete the following settings on the host environment and the device to ensure proper running of the subsequent steps.

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Set up the device

Get the device ready for running sample applications by completing the following configurations:
  1. Navigate to Set up the device of IQ-9075 documentation.
  2. Complete the following settings: a. Set up the debug UART. b. Connect the device to a network according to Connect to the network. c. Connect to the device SSH shell according to Connect over SSH.

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Set up the host computer

Ensure that the Ubuntu host and the device are in the same network by running ping <device IP address> on both the host computer and device. 
ping <device/host IP address>

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Set up the host Docker

The sample applications use ROS 2 Jazzy for communication on the host. To isolate the impact of the host’s Ubuntu version on ROS communication, perform the following steps to configure the Ubuntu 24.04 Docker environment.
  1. Download qrb_ros_simulation and the mesh files. 
    mkdir -p ~/qrb_ros_simulation_ws
cd ~/qrb_ros_simulation_ws
git clone https://github.com/qualcomm-qrb-ros/qrb_ros_simulation.git
cd qrb_ros_simulation
git checkout -b ef09f5e55afd7ca856d4c095e5ace9fd66124c76
  2. Build the local Docker image. 
    chmod +x scripts/docker_build.sh
bash ./scripts/docker_build.sh
    NoteIf you encounter issues with Docker, see Troubleshoot common issues.
  3. Start a Docker container. 
    chmod +x scripts/docker_run.sh
bash ./scripts/docker_run.sh
  4. Enable SSH service in the Docker container. 
    # Set the password of user root
(docker) passwd
# Enable SSH service
(docker) service ssh start
  5. Open a new terminal and sign in to the Docker container using SSH. 
    # The host IP where Docker is running
ssh -X -p 222 root@YOUR_HOST_IP
  6. Set the DISPLAY variable. 
    # YOUR_HOST_IP is the IP address of the Host where you want to view the sample output.
(ssh) source /opt/ros/jazzy/setup.bash
(ssh) export DISPLAY=YOUR_HOST_IP:0
(ssh) export ROS_DOMAIN_ID=123
(ssh) rqt
You have now built the Docker environment for ROS 2 Jazzy. If everything goes well, you can see the rqt window on your display.
NoteFor how to use rqt to view the running effect of the sample applications, see the steps of each sample application.