QRB ROS Camera

Overview

Qualcomm Camera-Server provides camera data that obtained from the camera sensor. qrb_ros_camera this camera-server to get the latest camera data. With camera ros2 node, data can achieve zero copy performance when coming out of the camera-server. This will greatly reduce the latency between ROS nodes.

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

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

Build

Currently, we only support use QCLINUX to build

1. Setup environments follow this document ‘s Set up the cross-compile environment.

2. Create ros_ws directory in <qirp_decompressed_workspace>/qirp-sdk/

3. Clone this repository under <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_camera.git

4. Build this project

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 \
-DSYSROOT_LIBDIR=${OECORE_TARGET_SYSROOT}/usr/lib \
-DSYSROOT_INCDIR=${OECORE_TARGET_SYSROOT}/usr/include \
-DPYTHON_SOABI=cpython-310-aarch64-linux-gnu -DCMAKE_STAGING_PREFIX=$(pwd)/install \
-DCMAKE_PREFIX_PATH=$(pwd)/install/share \
-DBUILD_TESTING=OFF

5. Push to the device & Install

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

Run

This package supports running it directly from the command or by dynamically adding it to the ros2 component container.

1. Run with command

1. Source this file to set up the environment on your device:

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

2. Use this command to run this package

(ssh) ros2 launch qrb_ros_camera qrb_ros_camera_launch.py

2. Dynamically add it to the ros2 component container

ComposableNode(
    package='qrb_ros_camera',
    plugin='qrb_ros::camera::CameraComponent',
    name='camera'
)

Packages

• qrb_ros_camera
  • Quickstart
• qrb_camera_lib
  • Data Struct
  • API

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	Add Build in QCLINUX SDK
2024-2-5	Initial release