QRB ROS Robot Base

Overview

QRB ROS Robot Base control package provide ROS interfaces to control AMR robot base. It will init robot base, sync time with MCB, provide ROS interfaces for control robot base, publish robot base state with ROS topics and provide test tools for robot base control. All the data between MCB and RBx side through QRC protocol.

Quickstart

Currently, we only support build with QCLINUX SDK.

1. Download QCLINUX SDK follow this document: download-the-prebuilt-robotics-image

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

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

3. Clone this repository and dependencies under <qirp_decompressed_workspace>/qirp-sdk/ros_ws

   cd <qirp_decompressed_workspace>/qirp-sdk/ros_ws
   git clone https://github.com/quic-qrb-ros/libqrc.git
   git clone https://github.com/quic-qrb-ros/qrb_ros_robot_base.git
   git clone https://github.com/QUIC-QRB-ROS/qrb_ros_interfaces.git
   

4. Build projects

   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 \
      -DCMAKE_STAGING_PREFIX=$(pwd)/install \
      -DCMAKE_PREFIX_PATH=$(pwd)/install/share -DBUILD_TESTING=OFF \
      -DPYTHON_SOABI=cpython-310-aarch64-linux-gnu -DQRC_RB3=ON
   

5. Push to the device and install

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

Run

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 robot base manager

(ssh) ros2 launch qrb_ros_robot_base robot_base.launch.py

3. Use this command to run keyboard test tool in another terminal

(ssh) ros2 run qrb_ros_robot_base_keyboard robot_base

Packages

Name	Descriptions
qrb_robot_base_manager	The C/C++ library to control robot base. it communicates with MCB using libqrc.
qrb_ros_robot_base	ROS 2 API to control robot base, it calls qrb_robot_base_manager.
qrb_ros_robot_base_msgs	ROS 2 interfaces definition.
qrb_ros_robot_base_keyboard	Keyboard command line tools to control Robot base with ROS 2 messages.
qrb_ros_robot_base_urdf	Robot base URDF model description and Rviz launch scripts.

• qrb_ros_robot_base
  • Run
  • Parameters
• qrb_ros_robot_base_keyboard
  • Run
  • Use keyboard to control

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
2024-8-28	Initial release