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.

Build

Currently, we only support use QCLINUX to build

Set up environment following the Set up the cross-compile environment of the QIRP User Guide.
Create ros_ws directory in <qirp_decompressed_workspace>/qirp-sdk/.
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_imu.git

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 \
  -DPYTHON_SOABI=cpython-310-aarch64-linux-gnu -DCMAKE_STAGING_PREFIX=$(pwd)/install \
  -DCMAKE_PREFIX_PATH=$(pwd)/install/share \
  -DBUILD_TESTING=OFF

Push to the device and install.

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 root@[ip-addr]
(ssh) tar -zxf /opt/qrb_ros_imu.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.

Run with command

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

Use this command to run this package

(ssh) ros2 run qrb_ros_imu imu_node

Dynamically add it to the ros2 component container

ComposableNode(
    package='qrb_ros_imu',
    plugin='qrb_ros::imu::ImuComponent',
    name='imu'
)

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