qrb_ros_amr_service

qrb_ros_amr_service is a package to manage the AMR behavior, such as navigation, mapping, return charging station.

Overview

Qualcomm amr service provides ROS interfaces that application can use these interfaces to start a P2P navigation or Follow path, amr service will control the base return the charging station when battery level is low.

qrb_amr_manager, which is a dynamic library, it manages the amr behavior.

Build

Currently, we only support use QCLINUX to build

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

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/qrb_ros_interfaces.git
   git clone https://github.com/quic-qrb-ros/qrb_ros_amr_service.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
   export Python3_NumPy_INCLUDE_DIR=${OECORE_TARGET_SYSROOT}/usr/lib/python3.10/site-packages/numpy/core/include
   colcon build --merge-install --cmake-args \
     -DPython3_NumPy_INCLUDE_DIR=${Python3_NumPy_INCLUDE_DIR} \
     -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_amr_service.tar.gz lib share
   scp qrb_ros_amr_service.tar.gz root@[ip-addr]:/opt/
   ssh root@[ip-addr]
   (ssh) tar -zxf /opt/qrb_ros_amr_service.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.

a.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_amr qrb_ros_amr_bringup.launch.py

Packages

Will update in the future.

Resources

• ROS2 Type Adaption

Contributions

Thanks for your interest in contributing to qrb_ros_amr_service! Please read our Contributions Page for more information on contributing features or bug fixes. We look forward to your participation!

License

qrb_ros_imu is licensed under the BSD-3-clause "New" or "Revised" License.

Check out the LICENSE for more details.