Develop a sample ROS2 application - Qualcomm Dragonwing Documentation

This information describes how to use the QIR SDK toolchain to compile a simple ROS 2 sample application. The demos and code for both Python and C++ development are available as examples.

Install the prebuilt QIR SDK on the host computer

Before you begin, download and extract the QIR SDK package as described in Download the prebuilt packages. Use the QIR SDK package under qirpsdk_artifacts; do not use the robotics eSDK under sdk/, which is for rebuilding the robotics image. On the host computer, go to the QIR SDK artifacts directory and decompress the QIR SDK archive:

cd <decompressed_workspace>/images/iq-9075-evk/qirpsdk_artifacts/iq-9075-evk
tar -zxvf qirp-sdk_<qirp_version>.tar.gz

This command generates the qirp-sdk directory. QIR SDK is the product name; qirp-sdk_<qirp_version>.tar.gz, qirpsdk_artifacts, and qirp-sdk are the package and directory names used by the delivered artifacts.

Note

The qirp-sdk_<qirp_version>.tar.gz is located in the deployed path of QIR artifacts. The <qirp_version> changes with each release, such as 2.0.0, 2.0.1. For example, the complete package name can be qirp-sdk_2.7.0.tar.gz.
For all released versions, see Qualcomm® Intelligent Robotics SDK (QIR SDK) 2.0 Release Notes.
The QIR SDK supports these development kits for Qualcomm Linux:
Development kit Machine name
Qualcomm Dragonwing^TM IQ-9075 EVK iq-9075-evk
Qualcomm Dragonwing^TM IQ-8275 EVK iq-8275-evk

Development kit	Machine name
Qualcomm Dragonwing^TM IQ-9075 EVK	`iq-9075-evk`
Qualcomm Dragonwing^TM IQ-8275 EVK	`iq-8275-evk`

Develop applications using the QIR SDK

Set up the QIR SDK cross-compile environment from the extracted qirp-sdk directory.

cd <decompressed_workspace>/images/iq-9075-evk/qirpsdk_artifacts/iq-9075-evk/qirp-sdk
source setup.sh

Fetch the project as the code baseline.

git clone https://github.com/ros2/demos.git -b jazzy

Develop your own application either in C++ or Python.

Develop ROS application using C++
Develop ROS application using Python

Develop your own C++ application. The following is an example.
cd demos/demo_nodes_cpp vim src/topics/talker.cpp +46
Change the demo_nodes_cpp/src/topics/talker.cpp msg data in line 46:
talker.cpp
msg_->data = "Hello World : Qualcomm : " + std::to_string(count_++);
Set the necessary environment variables and use the colcon tool to build the ROS2 package demo_nodes_cpp and its dependencies.
colcon build --merge-install --packages-up-to demo_nodes_cpp --cmake-args ${CMAKE_ARGS}

Push the demo to the device.

cd demo_nodes_cpp/install
tar -czvf demo_nodes_cpp.tar.gz lib share
scp demo_nodes_cpp.tar.gz root@[ip-addr]:/opt/
ssh root@[ip-addr]
(ssh) mount -o remount,rw /usr
(ssh) tar --no-overwrite-dir --no-same-owner -zxf /opt/demo_nodes_cpp.tar.gz -C /usr/ros/jazzy/

Run the demo application on the device. i. On the first terminal, run these commands:

(ssh) source /usr/share/qirp-setup.sh
(ssh) ros2 run demo_nodes_cpp talker

ii. On the second terminal, run these commands:

(ssh) source /usr/share/qirp-setup.sh
(ssh) ros2 run demo_nodes_cpp listener

Check the output. Terminal 1 output:

[INFO] [1739864779.759719598] [talker]: Publishing: 'Hello World : Qualcomm : 1'
[INFO] [1739864780.759687179] [talker]: Publishing: 'Hello World : Qualcomm : 2'
[INFO] [1739864781.760812014] [talker]: Publishing: 'Hello World : Qualcomm : 3'
...

Terminal 2 output:

[INFO] [1739864779.760348380] [listener]: I heard: [Hello World : Qualcomm : 1]
[INFO] [1739864780.760276535] [listener]: I heard: [Hello World : Qualcomm : 2]
[INFO] [1739864781.762066296] [listener]: I heard: [Hello World : Qualcomm : 3]
...

Develop your own Python application. The following is an example.
cd demos/demo_nodes_py vim demo_nodes_py/topics/talker.py +33
Change the demo_nodes_py/topics/talker.py msg data in line 33:
talker.py
msg.data = 'Hello World : Qualcomm : {0}'.format(self.i)
Set the necessary environment variables and use the colcon tool to build the ROS 2 package demo_nodes_py and its dependencies.
colcon build --merge-install --packages-up-to demo_nodes_py