Set up the environment for running sample applications

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.

Set up the device

Get the device ready for running sample applications by completing the following configurations:

IQ-9075 EVK
IQ-8275 EVK

Navigate to Set up the device of IQ-9075 documentation.
Complete the following settings: a. Set up the debug UART. b. Connect the device via Wi-Fi or Ethernet according to Connect to the device.

Navigate to Set up the device of IQ-8275 documentation.
Complete the following settings: a. Set up the debug UART. b. Connect the device via Wi-Fi or Ethernet according to Connect to the device.

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>

Set up the host Docker

The sample applications use ROS 2 Jazzy for communication on the host. You can run the sample applications in one of the following ways:

Docker (recommended): Configure the Ubuntu 24.04 Docker environment by performing the following steps. This ensures a consistent ROS 2 Jazzy environment regardless of your host Ubuntu version.
Host directly: Install ROS 2 Jazzy on a host machine running Ubuntu 24.04 and run the sample applications directly on the host.

Docker (recommended)
Host directly

Prerequisites

Before you begin, ensure that:

The host computer is running Ubuntu.
Docker Engine is installed.
The Docker service is running.
The current user belongs to the docker group.
NoteIf Docker is not installed, refer to Docker.

Download the qrb_ros_simulation repository and 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 96b5ac0a8066453a6b176d1064e4b7c688f95ac1

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.
Start a Docker container.
chmod +x scripts/docker_run.sh bash ./scripts/docker_run.sh
NoteThe container’s remote desktop is protected by the VNC password qrbrossim by default. Set your own password by exporting VNC_PASSWORD before running the script, for example VNC_PASSWORD=<your-password> bash ./scripts/docker_run.sh.
Identify the host IP address that the Docker container and the development kit can reach. On the host, list the interface addresses:
ip -4 addr show
Use the IP address on the same network as the development kit. You can verify the address from the device with:
ping <host-interface-ip-address>
On any computer that can reach the host, open a web browser and go to http://<host-interface-ip-address>:6080/vnc.html. Select Connect and enter the VNC password to access the container’s remote desktop.
In the remote desktop, open a terminal (for example, right-click the desktop and select Open Terminal Here) and configure the ROS 2 environment.
source /opt/ros/jazzy/setup.bash export ROS_DOMAIN_ID=123 rqt

You have now built the Docker environment for ROS 2 Jazzy. If the environment is configured correctly, the rqt window is displayed inside the browser-based remote desktop.

NoteFor how to use rqt to view the running effect of the sample applications, see the steps of each sample application.

Prerequisites

Before you begin, ensure that:

The host computer is running Ubuntu.

Follow the official ROS 2 Jazzy Debian package installation guide to install ROS 2.
NoteDuring the “Install ROS 2” step, install the recommended Desktop version (Desktop Install).

Install gazebo with ROS and other dependencies

sudo apt-get install -y ros-jazzy-ros-gz ros-jazzy-gz-ros2-control ros-jazzy-ros2-controllers

Download qrb_ros_simulation and meshes files

​Set up the device

​Set up the host computer

​Set up the host Docker

​Prerequisites

​Prerequisites

​Next steps

Set up the device

Set up the host computer

Set up the host Docker

Prerequisites

Prerequisites

Next steps