Key Features of the QIR SDK:
• Reference ROS Packages: Includes Robot Operating System (ROS) packages to support robotic application development.• End-to-End Scenario Samples: Offers sample scenarios to help evaluate robotic platforms.
• QRB ROS Transport: Enables zero-copy transport of ROS messages on Qualcomm robotics platforms.
QRB ROS Transport is implemented based on REP 2007, which defines interfaces for serializing custom types and supports intra-process communication without conversion.Prerequisites
- Ubuntu OS should be flashed
- Terminal access with appropriate permissions
- If you haven’t previously installed the PPA packages, follow the steps here to install the necessary software and drivers: /Install_required_software_packages
Getting Started with QIR SDK on Ubuntu
This guide walks you through using QIR sample applications on Qualcomm development kits running Ubuntu.Setup Instructions:
- Add ROS source to your device by following the ROS2 documentation.
- Add Qualcomm public PPA archives to your Ubuntu software sources:
- Install and configure the QIR SDK:
Sample Applications
The QIR SDK includes a variety of sample applications categorized as follows:• Platform Sample Applications: Demonstrate platform-level capabilities.
• Robotics Sample Applications: Enable robotic functionalities such as CPU load monitoring and robot simulation using ROS2.
Simulation Sample – AMR Simple Motion
The AMR simple motion is a simulated sample application that uses a Python-based ROS node to control the movements of QRB autonomous moving robots (AMRs) within the simulator. The qrb-ros-simulation package provides a simulation environment. It allows you to control the movement of QRB AMRs through publishing the ROS messages to the /qrb_robot_base/cmd_vel topic.
Pipeline flow for QRB AMR simple motion
The figure shows the pipeline of QRB AMR Simple Motion: