QRB ROS IMU

Overview

qrb_ros_imu is a package to publish the imu data from sensor service.

• This package uses Qualcomm Sensor See framework to get the latest imu data with high performance.
• The IMU data is widely used in robot localization, such as SLAM(Simultaneous localization and mapping).

Getting Started

Cross Compile with QCLINUX SDK

Cross Compile with QCLINUX SDK

Setup QCLINUX SDK environments:

• Reference QRB ROS Documents: Getting Started

Create workspace in QCLINUX SDK environment and clone source code

mkdir -p <qirp_decompressed_workspace>/qirp-sdk/ros_ws
cd <qirp_decompressed_workspace>/qirp-sdk/ros_ws

git clone https://github.com/quic-qrb-ros/lib_mem_dmabuf.git
git clone https://github.com/quic-qrb-ros/qrb_ros_transport.git
git clone https://github.com/quic-qrb-ros/qrb_ros_imu.git

Build source code with QCLINUX SDK

export AMENT_PREFIX_PATH="${OECORE_TARGET_SYSROOT}/usr;${OECORE_NATIVE_SYSROOT}/usr"
export PYTHONPATH=${PYTHONPATH}:${OECORE_TARGET_SYSROOT}/usr/lib/python3.10/site-packages

colcon build --merge-install --cmake-args \
  -DPython3_ROOT_DIR=${OECORE_TARGET_SYSROOT}/usr \
  -DPython3_NumPy_INCLUDE_DIR=${OECORE_TARGET_SYSROOT}/usr/lib/python3.10/site-packages/numpy/core/include \
  -DPYTHON_SOABI=cpython-310-aarch64-linux-gnu -DCMAKE_STAGING_PREFIX=$(pwd)/install \
  -DCMAKE_PREFIX_PATH=$(pwd)/install/share \
  -DBUILD_TESTING=OFF

Install ROS package to device

cd <qirp_decompressed_workspace>/qirp-sdk/ros_ws/install
tar czvf qrb_ros_imu.tar.gz lib share
scp qrb_ros_imu.tar.gz root@[ip-addr]:/opt/
ssh ssh root@[ip-addr]
(ssh) tar -zxf /opt/qrb_ros_imu.tar.gz -C /opt/qcom/qirp-sdk/usr/

Login to device and run

ssh root@[ip-addr]
(ssh) export HOME=/opt
(ssh) source /usr/bin/ros_setup.bash
(ssh) source /opt/qcom/qirp-sdk/qirp-setup.sh
(ssh) ros2 run qrb_ros_imu imu_node

Native Build on Ubuntu

Native Build on Ubuntu

Prerequisites

• ROS 2: Install ROS2 on Ubuntu
• sensor dependency install:

sudo apt install libimage-transport-dev
sudo add-apt-repository ppa:carmel-team/jammy-release --login
sudo apt upgrade
sudo apt install camx-kt pulseaudio-module-pal-card gstreamer1.0-tools gstreamer1.0-qcom-sample-apps weston-qcom
sudo reboot

Create workspace and clone source code from GitHub:

mkdir -p ~/ros2_ws/src && cd ~/ros2_ws/src
git clone https://github.com/quic-qrb-ros/lib_mem_dmabuf.git
git clone https://github.com/quic-qrb-ros/qrb_ros_transport.git
git clone https://github.com/quic-qrb-ros/qrb_ros_imu.git

Build source code

cd ~/ros2_ws
source /opt/ros/${ROS_DISTRO}/setup.bash
colcon build

Run system monitor

cd ~/ros2_ws
source install/setup.bash
ros2 run qrb_ros_imu imu_node

Supported Platforms

This package is designed and tested to be compatible with ROS 2 Humble running on Qualcomm RB3 gen2.

Hardware	Software
Qualcomm RB3 gen2	LE.QCROBOTICS.1.0, Canonical Ubuntu Image for RB3 gen2

Contributing

We would love to have you as a part of the QRB ROS community. Whether you are helping us fix bugs, proposing new features, improving our documentation, or spreading the word, please refer to our contribution guidelines and code of conduct.

• Bug report: If you see an error message or encounter failures, please create a bug report
• Feature Request: If you have an idea or if there is a capability that is missing and would make development easier and more robust, please submit a feature request

Authors

• Zhanye Lin - Initial work - quic-zhanlin

See also the list of contributors who participated in this project.

License

Project is licensed under the BSD-3-clause License. See LICENSE for the full license text.