Test ROS message transport with qrb_ros_transport - Qualcomm Dragonwing Documentation

The implementation has its base on REP 2007, which provides interfaces to define methods for serializing custom types and/or using those types in intra-process communication without conversion. The qrb_ros_transport sends image DMA buffer file descriptors (fd) between ROS nodes, rather than sending the image data itself. Hardware accelerators, such as cameras, GPUs, and EVA, share image data zero-copy through mmap DMA buffers.

Pipeline flow for `qrb_ros_transport`

The following figure shows the pipeline flow for qrb_ros_transport.

ROS 2 component container where camera, color space convert, and face detection nodes exchange DMA buffer file descriptors through QRB ROS Transport. — The qrb_ros_transport pipeline.

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.

Run out-of-the-box `qrb_ros_transport`

Install the qrb_ros_transport packages

Install the packages

sudo apt install ros-jazzy-qrb-ros-transport-\*

Use qrb_ros::transport::type::Image

For example:

Add the dependencies in your package.xml:
package.xml
<depend>qrb_ros_transport_image_type</depend>

Use ament_cmake_auto to find dependencies in your CMakeLists.txt:

CMakeLists.txt

find_package(ament_cmake_auto REQUIRED)
ament_auto_find_build_dependencies()

Use the adapted types in your ROS node.

Use the adapted image type

#include "qrb_ros_transport_image_type/image.hpp"
// Create message
auto msg = std::make_unique<qrb_ros::transport::type::Image>();
msg->header = std_msgs::msg::Header();
msg->width = width;
msg->height = height;
msg->encoding = "nv12";
// Allocate dmabuf for message
auto dmabuf = lib_mem_dmabuf::DmaBuffer::alloc(size, "/dev/dma_heap/system");
// ... set data to dmabuf
msg->dmabuf = dmabuf;
// Publish message
pub->publish(std::move(msg));

Build from source

Build from the source of qrb_ros_transport and run this application.

Install dependencies

Install the dependencies

sudo apt install ros-dev-tools \
  ros-jazzy-lib-mem-dmabuf \
  ros-jazzy-qrb-sensor-client \
  ros-jazzy-pcl-conversions colcon

Clone the repository to the device

Clone the repository

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_transport.git

Build the sample application

Build the workspace

cd ~/qrb_ros_ws
colcon build

​Pipeline flow for qrb_ros_transport

​Prerequisites

​Run out-of-the-box qrb_ros_transport

​Build from source

Pipeline flow for `qrb_ros_transport`

Prerequisites

Run out-of-the-box `qrb_ros_transport`

Build from source