# 刷写和安装

Source: [https://docs.qualcomm.com/doc/80-70015-265Y/topic/flash-and-install_4_3.html](https://docs.qualcomm.com/doc/80-70015-265Y/topic/flash-and-install_4_3.html)

介绍了刷写机器人镜像和将 QIRP SDK 安装到设备的步骤。

## 关于此任务

**刷写机器人镜像**

**步骤：**

1. 按照[进入 EDL 模式](https://docs.qualcomm.com/bundle/publicresource/topics/80-70015-254/flash_images.html#move-to-edl-mode) 中的手动步骤 ![](data:image/png;base64,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) 将机器设置为EDL模式。
注释：
    - 对于 RB3 Gen2 视觉开发套件，请按照 QCS6940/QCS5430
                下的步骤操作。
    - 对于 IQ-9100 Beta 评估套件，请按照 QCS9075 下的步骤操作。
2. 要将以下机器人镜像之一刷写到设备，按照[刷写镜像](https://docs.qualcomm.com/bundle/publicresource/topics/80-70015-254/flash_images.html)中的步骤进行操作。
    - 预编译机器人镜像
    - 在“使用 GitHub 编译”中生成的机器人镜像[使用 GitHub 编译](https://docs.qualcomm.com/doc/80-70015-265Y/topic/build-with-github-binaries.html)
    - 在“使用 GitHub 编译”中生成的机器人镜像[使用 GitHub 编译（固件和附加功能）](https://docs.qualcomm.com/doc/80-70015-265Y/topic/using-detailed-instructions_3_2.html)

**在设备上安装 QIRP SDK**

**步骤：**

## 过程

1. 在主机上，转到 artifacts 目录并使用 `tar` 命令解压缩。
        
cd <workspace>/build-qcom-robotics-ros2-humble\
        /tmp-glibc/deploy/qirpsdk_artifacts
        tar -zxf qirp-sdk_<qirp_version>.tar.gzCopy to clipboard

生成 `qirp-sdk` 目录。

注释： `qirp-sdk_<qirp_version>.tar.gz` 位于 QIRP artifacts所部署的路径中。`<qirp_version>` 随每个发行版本进行更改，例如 `2.0.0`、 `2.0.1`。例如，整个包的名称可以是 `qirp-sdk_2.0.0.tar.gz`。对于所有已发布的版本，参见 [Qualcomm® Linux Intelligent Robotics Product SDK (QIRP SDK) 2.0 发布说明](https://docs.qualcomm.com/bundle/publicresource/topics/80-70015-260)。
2. 在 "Permissive" 模式下按照[使用 SSH](https://docs.qualcomm.com/bundle/publicresource/topics/80-70015-254/how_to.html#use-ssh) 中介绍的步骤启用
          `SSH`。
3. 要部署 QIRP 组件，使用以下命令将 QIRP 文件推送到设备：
        
cd <workspace>/build-qcom-robotics-ros2-humble\
        /tmp-glibc/deploy/qirpsdk_artifacts/qirp-sdk
        scp ./runtime/qirp-sdk.tar.gz root@[ip-addr]:/opt/
        ssh root@[ip-addr]
        (ssh) cd /opt && tar -zxf ./qirp-sdk.tar.gz
        (ssh) chmod +x /opt/qirp-sdk/*.sh
        (ssh) cd /opt/qirp-sdk && ./install.shCopy to clipboard

**上一级主题：** [编译和安装](https://docs.qualcomm.com/doc/80-70015-265Y/topic/advanced-usage.html)

Last Published: Dec 05, 2024

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