# QRB-ROS-IMU

Source: [https://docs.qualcomm.com/doc/80-65220-2Y/topic/qrb-ros-imu_5_2_4.html](https://docs.qualcomm.com/doc/80-65220-2Y/topic/qrb-ros-imu_5_2_4.html)

QRB-ROS-IMU 示例创建了 `/imu` 主题，它用于发布惯性测量单元 (IMU) 数据。

该图显示了从 IMU 硬件捕获 IMU 数据并发布 ROS 主题消息的 pipeline。

Figure : QRB-ROS-IMU pipeline

![](data:image/png;base64,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)

有关 pipeline 流程中使用的 ROS 节点和主题的信息，参见 [QRB-ROS-IMU 的 pipeline 流程](https://docs.qualcomm.com/doc/80-65220-2Y/topic/qrb-ros-imu_5_2_4.html#ID-concept-d32488e4348__section_err_vxg_vbc)。

## 用例

**前提条件：**
- QIRP SDK 和依赖项已安装，参见[编译软件](https://docs.qualcomm.com/doc/80-65220-2Y/topic/build-the-software_4_1.html)和[刷写和安装](https://docs.qualcomm.com/doc/80-65220-2Y/topic/flash-and-install_4_3.html)。
- 已在“Permissive”模式下按照 [如何使用 SSH](https://docs.qualcomm.com/bundle/publicresource/topics/80-70014-254/how_to.html#how-to-ssh-) 中介绍的步骤启用 `SSH`。

**用例 1：运行开箱即用的 qrb-ros-imu**

**步骤：**

1. 启动两个终端，并在每个终端运行以下命令，从而在设备上搭建 QIRP SDK 和 ROS2 环境。 
    `ROS_DOMAIN_ID` 的取值范围：[0, 232]

        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.bashCopy to clipboard
2. 在终端 1 中，运行 IMU ROS 节点。

        (ssh) ros2 run qrb_ros_imu imu_nodeCopy to clipboard
3. 在终端 2 中，获取 IMU 数据。

        (ssh) ros2 topic echo /imuCopy to clipboard

**用例 2：编译并运行 qrb-ros-imu**

**步骤：**

1. 在主机上编译由 QIRP SDK 提供的 `qrb_ros_imu`。

        cd [QIRP SDK path]
        source setup.sh
        
        cd sample-code/qirp_nodes/perception_nodes/qrb_ros_imu
        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 --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/python3.10/site-packages/numpy/core/include \
          	-DCMAKE_MAKE_PROGRAM=/usr/bin/make \
          	-DBUILD_TESTING=OFF
        Copy to clipboard
2. 将 `qrb_ros_imu` 推送到设备。 
Note: 确保设备上已安装 QIRP SDK。

        cd sample-code/qirp_nodes/perception_nodes/qrb_ros_imu/install/qrb_ros_imu
        tar czvf qrb_ros_imu.tar.gz include lib share
        scp qrb_ros_imu.tar.gz root@[ip-addr]:/opt/qcom/qirp-sdk/
        ssh root@[ip-addr]
        (ssh) tar -zxf /opt/qcom/qirp-sdk/qrb_ros_imu.tar.gz -C /opt/qcom/qirp-sdk/usr/
        Copy to clipboard
3. 在设备上运行 `qrb_ros_imu`，参考[用例 1：运行开箱即用的 qrb-ros-imu](https://docs.qualcomm.com/doc/80-65220-2Y/topic/qrb-ros-imu_5_2_4.html#ID-concept-d32488e4348__case1-ros-imu)。

## QRB-ROS-IMU 的 pipeline 流程

Table : Qrb-ros-imu pipeline 中使用的 ROS 节点

| ROS 节点 | 说明 |
| --- | --- |
| IMUCopy to clipboard | 发布 `/imu` ROS 主题消息。 |

Table : Qrb-ros-imu pipeline 中使用的 ROS 主题

| ROS 主题 | 类型 | 发布方 |
| --- | --- | --- |
| /rosCopy to clipboard | <sensor_msgs::msg::IMU>Copy to clipboard | `IMU` 节点 |

## 局限性

由于受硬件限制，帧率只能是固定值。不支持自定义设置。

**Parent Topic:** [开源示例](https://docs.qualcomm.com/doc/80-65220-2Y/topic/open-source-samples_5_2.html)

Last Published: Aug 09, 2024

[Previous Topic
Rplidar-ros2](https://docs.qualcomm.com/bundle/publicresource/80-65220-2Y/topics/rplidar-ros2_5_2_3.md) [Next Topic
QRB-ROS-CAMERA](https://docs.qualcomm.com/bundle/publicresource/80-65220-2Y/topics/qrb-ros-camera_5_2_5.md)