QRB ROS IMU

Overview

Qualcomm Sensor See Framework provides IMU data that obtained from the IMU driver via DSP side. qrb_ros_imu uses this framework to get the latest IMU data with high performance.

With the Qualcomm Sensor See Framework, data can achieve zero copy performance when coming out of the driver. qrb_sensor_client, which is a dynamic library, is based on this framework for helping developers to utilize this feature. This will greatly reduce the latency between the ROS node and the driver. This time consumption measurement is around 0.4ms, which is several tens of times better than the performance where copying occurred before.

IMU data is widely used in robot localization, such as: SLAM(Simultaneous localization and mapping). These localization applications have more precise performance after integrating IMU data to predict position.

This package leverages type adaption and intra process communication to optimize message formats and dramatically accelerate the communication between participating nodes.

QuickStart

Setup Docker on device: Docker Setup.

Download source code

cd ${QRB_ROS_WS}/src
git clone https://github.com/qualcomm-qrb-ros/lib_mem_dmabuf.git
git clone https://github.com/qualcomm-qrb-ros/qrb_ros_imu.git
git clone https://github.com/qualcomm-qrb-ros/qrb_ros_transport.git

Build packages
```
colcon build
```
Run

cd ${QRB_ROS_WS}/src

source install/local_setup.sh
ros2 run qrb_ros_imu imu_node

Setup QCLINUX SDK environments: Reference Getting Started - Environment Setup

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/qualcomm-qrb-ros/qrb_ros_imu.git

Build source code with QCLINUX SDK

export AMENT_PREFIX_PATH="${OECORE_NATIVE_SYSROOT}/usr:${OECORE_TARGET_SYSROOT}/usr"
export PYTHONPATH=${OECORE_NATIVE_SYSROOT}/usr/lib/python3.12/site-packages/:${OECORE_TARGET_SYSROOT}/usr/lib/python3.12/site-packages/

colcon build --continue-on-error --cmake-args \
  -DCMAKE_TOOLCHAIN_FILE=${OE_CMAKE_TOOLCHAIN_FILE} \
  -DPYTHON_EXECUTABLE=${OECORE_NATIVE_SYSROOT}/usr/bin/python3 \
  -DPython3_NumPy_INCLUDE_DIR=${OECORE_NATIVE_SYSROOT}/usr/lib/python3.12/site-packages/numpy/core/include \
  -DCMAKE_MAKE_PROGRAM=/usr/bin/make \
  -DBUILD_TESTING=OFF

Install ROS package to device

cd <qirp_decompressed_workspace>/qirp-sdk/ros_ws/install/qrb_ros_imu
tar -czvf qrb_ros_imu.tar.gz include lib share
scp qrb_ros_imu.tar.gz root@[ip-addr]:/home/
cd <qirp_decompressed_workspace>/qirp-sdk/ros_ws/install/qrb_sensor_client
tar -czvf qrb_sensor_client.tar.gz include lib share
scp qrb_sensor_client.tar.gz root@[ip-addr]:/home/
ssh root@[ip-addr]
(ssh) mount -o remount rw /
(ssh) tar --no-overwrite-dir --no-same-owner -zxf /home/qrb_ros_imu.tar.gz -C /usr/
(ssh) tar --no-overwrite-dir --no-same-owner -zxf /home/qrb_sensor_client.tar.gz -C /usr/

Run

(ssh) export HOME=/home
(ssh) setenforce 0
(ssh) source /usr/bin/ros_setup.sh && source /usr/share/qirp-setup.sh
(ssh) ros2 run qrb_ros_imu imu_node

Packages

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

Updates

Date	Changes
2024-7-16	Added build in QCLINUX SDK
2024-2-5	Initial release