> ## Documentation Index
> Fetch the complete documentation index at: https://dragonwingdocs.qualcomm.com/llms.txt
> Use this file to discover all available pages before exploring further.

# Explore the shared message interfaces in qrb_ros_interfaces

> The qrb_ros_interfaces is a collection of ROS 2 interface packages designed to define and merge custom message, service, and action types. It's specifically adapted to communication within the QRB ROS ecosystem.

The `qrb_ros_interfaces` collection serves as a centralized repository for all QRB ROS related communication interfaces, ensuring standardization and consistency across various QRB ROS nodes.

Each package within the collection provides specific interface definitions crucial for enabling interoperability and efficient data exchange between components interacting with QRB hardware or software.

The following table lists the interface packages currently included in this collection, with the status, description, and interface types of each package.

| Interface package name        | Status     | Description                                                                            | Interface type (Contains) |
| ----------------------------- | ---------- | -------------------------------------------------------------------------------------- | ------------------------- |
| `qrb_ros_amr_msgs`            | Active     | QRB autonomous mobile robot (AMR) ROS msg                                              | message, service, action  |
| `qrb_ros_audio_common_msgs`   | Active     | QRB ROS audio common messages                                                          | message, action           |
| `qrb_ros_audio_service_msgs`  | Active     | QRB ROS audio service messages                                                         | message, service          |
| `qrb_ros_navigation_msgs`     | Active     | QRB Navigation ROS messages                                                            | message, service          |
| `qrb_ros_robot_base_msgs`     | Active     | QRB ROS robot base messages                                                            | message, service          |
| `qrb_ros_sensor_service_msgs` | Deprecated | QRB ROS Sensor Service Interfaces                                                      | message, service          |
| `qrb_ros_slam_msgs`           | Active     | Messages ROS Package for QRB simultaneous localization and mapping (SLAM) Service call | message, service          |
| `qrb_ros_system_monitor_msgs` | Active     | System monitor interfaces                                                              | message, service          |
| `qrb_ros_tensor_list_msgs`    | Active     | Messages for model inference                                                           | message                   |
| `qrb_ros_vision_msgs`         | Active     | Messages for computer vision pipelines                                                 | message                   |

## Prerequisites

You have set up the device, installed ROS2 Jazzy and the Qualcomm Intelligent Robotics (QIR) SDK on the device according to [Install the QIR SDK](./install-the-qir-sdk).

## Run out-of-the-box `qrb_ros_interfaces`

<Steps>
  <Step title="Install the qrb_ros_interfaces packages">
    ```bash Install the packages theme={null}
    sudo apt install ros-jazzy-qrb-ros-tensor-list-msgs
    ```
  </Step>

  <Step title="Use this package">
    ```bash List the package interfaces theme={null}
    source /opt/ros/jazzy/setup.bash
    ros2 interface package qrb_ros_tensor_list_msgs
    ```

    <Frame>
      <img src="https://mintcdn.com/qualcomm-prod/EDJV-hu6qJhZi4pm/SDKs/QIR-SDK-Ubuntu/images/image10.png?fit=max&auto=format&n=EDJV-hu6qJhZi4pm&q=85&s=a2de28ae3f91701b271b8089462d62b8" alt="Terminal listing the two interfaces in the qrb_ros_tensor_list_msgs package: Tensor and TensorList." width="794" height="81" data-path="SDKs/QIR-SDK-Ubuntu/images/image10.png" />
    </Frame>
  </Step>

  <Step title="Echo scan in another terminal">
    ```bash Show the Tensor message definition theme={null}
    source /opt/ros/jazzy/setup.bash
    ros2 interface show qrb_ros_tensor_list_msgs/msg/Tensor
    ```

    <Frame>
      <img src="https://mintcdn.com/qualcomm-prod/EDJV-hu6qJhZi4pm/SDKs/QIR-SDK-Ubuntu/images/image11.png?fit=max&auto=format&n=EDJV-hu6qJhZi4pm&q=85&s=a9cdc9516664c9c477ff4ee6b0c02825" alt="Terminal output of the Tensor message definition showing the name string, data_type integer, shape array, and data buffer fields." width="809" height="398" data-path="SDKs/QIR-SDK-Ubuntu/images/image11.png" />
    </Frame>
  </Step>
</Steps>

## Build and run `qrb_ros_interfaces`

<Steps>
  <Step title="Install dependencies">
    ```bash Install the dependencies theme={null}
    sudo apt install ros-dev-tools colcon
    ```
  </Step>

  <Step title="Clone the repository to the device">
    ```bash Clone the repository theme={null}
    mkdir -p ~/qrb_ros_ws/src
    cd ~/qrb_ros_ws/src
    source /opt/ros/jazzy/setup.bash
    git clone https://github.com/qualcomm-qrb-ros/qrb_ros_interfaces.git
    ```
  </Step>

  <Step title="Resolve dependencies">
    ```bash Resolve the dependencies theme={null}
    source /opt/ros/jazzy/setup.sh
    cd ~/qrb_ros_ws
    sudo rosdep install -i --from-path src --rosdistro jazzy -y
    ```
  </Step>

  <Step title="Build and run">
    ```bash Build the workspace theme={null}
    colcon build
    ```
  </Step>

  <Step title="Open a new terminal, go to qrb_ros_ws, and source the setup files">
    ```bash Source the setup files and inspect the interfaces theme={null}
    source install/setup.bash
    ros2 interface package qrb_ros_tensor_list_msgs
    ros2 interface show qrb_ros_tensor_list_msgs/msg/Tensor
    ```
  </Step>
</Steps>