> ## 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.

# 机器人 OpenEmbedded 层变更

对于 Qualcomm Linux 2.0，QIR SDK 将三个独立的机器人 OpenEmbedded (OE) 层整合为单一统一层。本信息介绍变更内容以及如何更新您的自定义构建配置。

## 层整合

### QIR SDK for Qualcomm Linux 1.0：三个独立的层

对于 Qualcomm Linux 1.0，QIR SDK 的机器人构建分布在三个不同的 OE 层中：

| **层**                       | **职责**                                   |
| :-------------------------- | :--------------------------------------- |
| `meta-qcom-robotics`        | 核心机器人框架：ROS 节点、qrb-ros 软件包、传感器驱动和机器人功能配方 |
| `meta-qcom-robotics-distro` | 发行版配置：发行版 conf 文件、镜像配方定义和软件包组            |
| `meta-qcom-robotics-sdk`    | 产品 SDK 打包：SDK 产物打包任务和 `qirp-sdk` 配方      |

### QIR SDK for Qualcomm Linux 2.0：单一统一层

对于 Qualcomm Linux 2.0，QIR SDK 的所有三个层被合并为单一的 `meta-qcom-robotics-sdk` 层。该层的实际目录结构如下：

```
meta-qcom-robotics-sdk/
├── ci/                                    # KAS YAML build configuration files
│   ├── base.yml                             # Base layer configuration (oe-core, meta-qcom, and others)
│   ├── mirror.yml                           # Shared-state (sstate) cache mirror configuration
│   ├── iq-9075-evk.yml                      # IQ-9075-EVK machine configuration
│   ├── iq-8275-evk.yml                      # IQ-8275-EVK machine configuration
│   ├── linux-qcom-6.18.yml                  # Kernel v6.18 provider configuration
│   ├── linux-qcom-rt-6.18.yml               # Real-time (RT) kernel v6.18 provider configuration
│   ├── linux-qcom-next.yml                  # linux-qcom-next kernel provider configuration
│   ├── qcom-distro.yml                      # Qualcomm Linux multimedia distribution
│   ├── qcom-distro-kvm.yml                  # Multimedia distribution with KVM machine feature enabled
│   ├── qcom-robotics-distro.yml             # Qualcomm Linux robotics distribution
│   ├── qcom-robotics-distro-catchall.yml    # Robotics distro with qcom-distro-catchall variant
│   ├── qcom-robotics-image.yml              # Build target: qcom-robotics-image
│   ├── qcom-robotics-proprietary-image.yml  # Build target: qcom-robotics-proprietary-image
│   ├── debug.yml                            # Debug build configuration
│   └── performance.yml                      # Performance build configuration
├── classes/                               # BitBake classes
│   ├── psdk-image.bbclass                 # SDK artifact generation task
│   ├── robotics-package.bbclass           # Robotics package staging helper
│   ├── rdepends-collector.bbclass         # Runtime dependency collection
│   └── rootfs-symlink.bbclass             # Rootfs symlink management
├── conf/
│   ├── layer.conf                         # Layer configuration
│   └── distro/
│       ├── qcom-robotics-ros2-jazzy.conf  # Distro: ROS 2 Jazzy on Qualcomm Linux
│       ├── qcom-robotics-distro-selinux.conf # Distro: SELinux required configuration
│       ├── qcom-robotics-distro-sota.conf # Distro: OTA required configuration
│       └── include/
│           └── qcom-robotics-sdk.inc      # QIR SDK configuration .inc file
├── recipes/                               # Feature recipes (qrb-ros packages, sensors, tools)
│   ├── qrb-ros-camera/
│   ├── qrb-ros-nn-inference/
│   ├── qrb-ros-audio-service/
│   ├── qrb-ros-transport/
│   └── ...
├── recipes-bbappends/                     # .bbappend files for upstream component adaptation
│   ├── recipe-ros/                        # ROS package adaptations (nav2, moveit, etc.)
│   ├── recipe-kernel/                     # Kernel config fragments and DTS patches
│   ├── recipe-support/                    # Third-party library adaptations
│   └── recipes-containers/               # Container runtime adaptations
├── recipes-products/                      # Image and packagegroup definitions
│   ├── images/
│   │   ├── qcom-robotics-image.bb         # Open-source robotics image
│   │   └── qcom-robotics-proprietary-image.bb  # Robotics image with proprietary packages
│   └── packagegroups/
│       ├── packagegroup-qcom-ros2.bb      # ROS 2 Jazzy framework and tools
│       ├── packagegroup-robotics-opensource.bb  # Open-source robotics packages
│       ├── packagegroup-oss-with-prop-deps.bb   # OSS packages with proprietary runtime deps
│       └── packagegroup-robotics-proprietary.bb # Qualcomm proprietary robotics binaries
├── recipes-sdk/                           # QIRP SDK packaging recipe and scripts
│   ├── qirp-sdk.bb
│   └── files/
│       ├── content_config.json
│       ├── install.sh / uninstall.sh
│       └── qrb_ros_samples_scripts/       # Per-sample build/deploy/run scripts
└── patches/                               # Patches applied to upstream layers via KAS
```