# Robotics layers specifications

Provides the detailed information for the robotics layers used in QIRP SDK.

The QIRP SDK includes both Qualcomm Linux layers and robotics layers.
This information lists the details of all robotics layers.

- QIRP robotics layers

    - [meta-ros](https://docs.qualcomm.com/doc/80-70017-265/topic/robotics-layers.html#section-meta-ros)
    - [meta-qcom-robotics-sdk](https://docs.qualcomm.com/doc/80-70017-265/topic/robotics-layers.html#section-meta-qcom-robotics-sdk)
    - [meta-qcom-robotics](https://docs.qualcomm.com/doc/80-70017-265/topic/robotics-layers.html#section-meta-qcom-robotics)
    - [meta-qcom-robotics-distro](https://docs.qualcomm.com/doc/80-70017-265/topic/robotics-layers.html#section-meta-qcom-robotics-distro)
- Robotics extra layer

    [meta-qcom-robotics-extras](https://docs.qualcomm.com/doc/80-70017-265/topic/robotics-layers.html#section-meta-qcom-robotics-extras)

## `meta-ros`

The `meta-ros` layer information is published to the [meta-ros GitHub repository](https://github.com/ros/meta-ros).

## `meta-qcom-robotics-sdk`

- **BitBake classes**

    The following table lists the BitBake classes defined in the metadata
layer `meta-qcom-robotics-sdk`:
- **Distro configuration**

    | `layer.conf` | Configures the project layers with the following information:<br><br><br><br>> <br>> <br>> <ul class="simple"><br>> <li><p>Recipe file path</p></li><br>> <li><p>Supported Yocto version</p></li><br>> <li><p>Filename</p></li><br>> </ul> |
    | --- | --- |
- **Recipes**

    | Recipe | Description |
    | --- | --- |
    | `recipes-sdk` | Consists of function SDK recipes and QIRP SDK recipe:<br><br><br><br>> <br>> <br>> <ul class="simple"><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qti-qim-sdk.bb</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qti-qim-product-sdk.bb</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qti-robotics.bb</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qti-qnn.bb</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qirp-sdk.bb</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qti-qirf.bb(Deprecated)</span></code></p></li><br>> </ul> |

## `meta-qcom-robotics`

- **BitBake classes**

    The following table lists the BitBake classes defined in the metadata layer `meta-qcom-robotics-sdk`:

    | BitBake class | Description |
    | --- | --- |
    | `fsdk-package.bbclass` | <ul class="simple"><br><li><p>Provides a packaging task to pack the Robotics artifacts into an archive. It is invoked by the <code class="docutils literal notranslate"><span class="pre">packagegroup-qcom-robotics</span></code> recipe.</p></li><br><li><p>The easy-to-install artifact archives are available at the <code class="docutils literal notranslate"><span class="pre">&lt;workspace&gt;/build-qcom-wayland/tmp-glibc/deploy/roboticssdk_artifacts</span></code> directory after the recipe build is complete.</p></li><br></ul> |
    | `psdk-base.bbclass` | <ul class="simple"><br><li><p>Provides base configurations to set the package name and disables the unused tasks for the Robotics artifacts.</p></li><br><li><p>Invoked by <code class="docutils literal notranslate"><span class="pre">packagegroup-qcom-robotics</span></code> recipe during the build.</p></li><br></ul> |
    | `robotics-package.bbclass` | <ul class="simple"><br><li><p>Provides a task to move all robotics files to the <code class="docutils literal notranslate"><span class="pre">pkg_dest</span></code> directory. pkg_dest default with &quot;/&quot;</p></li><br><li><p>Provides base configurations to set the package name and package file.</p></li><br><li><p>Invoked by the robotics feature recipes during the build.</p></li><br></ul> |
- **Distro configuration**

    | `layer.conf` | Configures the project layers with the following information:<br><br><br><br>> <br>> <br>> <ul class="simple"><br>> <li><p>Recipe file path</p></li><br>> <li><p>Supported Yocto version</p></li><br>> </ul> |
    | --- | --- |
- **Recipes**

    | Recipe | Description |
    | --- | --- |
    | recipes | - Consists of robotics feature recipes:<br>    - <ul class="simple"><br><li><p><code class="docutils literal notranslate"><span class="pre">dmabuf-transport_0.0.0.1.bb</span></code></p></li><br><li><p><code class="docutils literal notranslate"><span class="pre">lib-mem-dmabuf_0.0.0.1.bb</span></code></p></li><br><li><p><code class="docutils literal notranslate"><span class="pre">qrb-colorspace-convert-lib_0.0.0.1.bb</span></code></p></li><br><li><p><code class="docutils literal notranslate"><span class="pre">qrb-ros-colorspace-convert_0.0.0.1.bb</span></code></p></li><br><li><p><code class="docutils literal notranslate"><span class="pre">qrb-sensor-client_0.0.0.1.bb</span></code></p></li><br><li><p><code class="docutils literal notranslate"><span class="pre">qrb-ros-system-monitor-interfaces_0.0.0.1.bb</span></code></p></li><br><li><p><code class="docutils literal notranslate"><span class="pre">qrb-ros-system-monitor_0.0.0.1.bb</span></code></p></li><br><li><p><code class="docutils literal notranslate"><span class="pre">qrb-ros-transport-image-type_0.0.0.1.bb</span></code></p></li><br><li><p><code class="docutils literal notranslate"><span class="pre">qrb-ros-transport-imu-type_0.0.0.1.bb</span></code></p></li><br><li><p><code class="docutils literal notranslate"><span class="pre">packagegroup-qcom-robotics.bb</span></code></p></li><br><li><p><code class="docutils literal notranslate"><span class="pre">auto-explore.bb</span></code></p></li><br><li><p><code class="docutils literal notranslate"><span class="pre">follow-me.bb</span></code></p></li><br><li><p><code class="docutils literal notranslate"><span class="pre">libqrc-udriver.bb</span></code></p></li><br><li><p><code class="docutils literal notranslate"><span class="pre">librealsense2_2.54.2.bb</span></code></p></li><br><li><p><code class="docutils literal notranslate"><span class="pre">mcb-flash.bb</span></code></p></li><br><li><p><code class="docutils literal notranslate"><span class="pre">nuttx.bb</span></code></p></li><br><li><p><code class="docutils literal notranslate"><span class="pre">ncnn.bb</span></code></p></li><br><li><p><code class="docutils literal notranslate"><span class="pre">orbbec-camera</span></code></p></li><br><li><p><code class="docutils literal notranslate"><span class="pre">orbbec-camera-msgs_1.2.2-1.bb</span></code></p></li><br><li><p><code class="docutils literal notranslate"><span class="pre">orbbec-camera</span></code></p></li><br><li><p><code class="docutils literal notranslate"><span class="pre">orbbec-camera_1.5.10-1.bb</span></code></p></li><br><li><p><code class="docutils literal notranslate"><span class="pre">orbbec-camera</span></code></p></li><br><li><p><code class="docutils literal notranslate"><span class="pre">orbbec-description_0.0.0-1.bb</span></code></p></li><br><li><p><code class="docutils literal notranslate"><span class="pre">battery-client.bb</span></code></p></li><br><li><p><code class="docutils literal notranslate"><span class="pre">battery-service_0.1.bb</span></code></p></li><br><li><p><code class="docutils literal notranslate"><span class="pre">qrb-ros-battery_0.1.bb</span></code></p></li><br><li><p><code class="docutils literal notranslate"><span class="pre">qrb-ros-camera_0.1.bb</span></code></p></li><br><li><p><code class="docutils literal notranslate"><span class="pre">qti-robot-amr-ctrl.bb</span></code></p></li><br><li><p><code class="docutils literal notranslate"><span class="pre">qti-robot-keyboard.bb</span></code></p></li><br><li><p><code class="docutils literal notranslate"><span class="pre">qti-robot-urdf.bb</span></code></p></li><br><li><p><code class="docutils literal notranslate"><span class="pre">qrb-ros-imu_1.0.bb</span></code></p></li><br><li><p><code class="docutils literal notranslate"><span class="pre">sensor-client.bb</span></code></p></li><br><li><p><code class="docutils literal notranslate"><span class="pre">rplidar-ros2_2.1.2-1.bb</span></code></p></li><br><li><p><code class="docutils literal notranslate"><span class="pre">sensor-service_2.1.bb</span></code></p></li><br><li><p><code class="docutils literal notranslate"><span class="pre">ocr-msg.bb</span></code></p></li><br><li><p><code class="docutils literal notranslate"><span class="pre">ocr-service.bb</span></code></p></li><br><li><p><code class="docutils literal notranslate"><span class="pre">python3-pytesseract_0.3.10.bb</span></code></p></li><br><li><p><code class="docutils literal notranslate"><span class="pre">vio.bb</span></code></p></li><br><li><p><code class="docutils literal notranslate"><span class="pre">depth-vslam.bb</span></code></p></li><br><li><p><code class="docutils literal notranslate"><span class="pre">mono-vslam.bb</span></code></p></li><br><li><p><code class="docutils literal notranslate"><span class="pre">voxel-map.bb</span></code></p></li><br></ul> |
    | recipes-sdk | Consists of QIRP SDK recipe:<br><br><br><br>> <br>> <br>> <ul class="simple"><br>> <li><p><code class="docutils literal notranslate"><span class="pre">packagegroup-qcom-robotics.bb</span></code></p></li><br>> </ul> |
    | recipes-bbappends | Consists of the recipe append files, which add extended configuration:<br><br><br><br>> <br>> <br>> <ul class="simple"><br>> <li><p><code class="docutils literal notranslate"><span class="pre">camxapi-kt_%.bbappend</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">nav2-bringup_1.1.5-1.bbappend</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">navigation2_1.1.5-1.bbappend</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">python3-lark-parser_0.7.0.bbappend</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">python3-pybind11_2.11.1.bbappend</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">realsense2-camera-msgs_4.51.1-1.bbappend</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">realsense2-camera_4.51.1-1.bbappend</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">rplidar-ros2_2.1.2-1.bbappend</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">syslog-plumber_%.bbappend</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">tensorflow-lite_%.bbappend</span></code></p></li><br>> </ul> |

## `meta-qcom-robotics-distro`

- **Distro configuration**

    | `layer.conf` | Configures the project layers with the following information:<br><br><br><br>> <br>> <br>> <ul class="simple"><br>> <li><p>Recipe file path</p></li><br>> <li><p>Supported Yocto version</p></li><br>> </ul> |
    | --- | --- |
    | `qcom-robotics-ros2-humble.conf` | Configures the distro feature with the following information:<br><br><br><br>> <br>> <br>> <ul class="simple"><br>> <li><p>ROS2 humble distro enablement</p></li><br>> <li><p>Includes distro conf file of Qualcomm Linux</p></li><br>> </ul> |
- **Image recipe**

    | Recipe | Description |
    | --- | --- |
    | `qcom-robotics-full-image` | Consists of these packages:<br><br><br><br>> <br>> <br>> <ul class="simple"><br>> <li><p>ros-core</p></li><br>> <li><p>qirp-sdk</p></li><br>> <li><p>packagegroup-qcom-robotics</p></li><br>> </ul> |
- **Package groups**

    | Package group | Description |
    | --- | --- |
    | `packagegroup-qcom-robotics` | Package group for upstream basic ROS2 packages, and packages needed for robotics:<br><br><br><br>> <br>> <br>> <ul class="simple"><br>> <li><p>ament-cmake</p></li><br>> <li><p>ament-cmake-auto</p></li><br>> <li><p>ament-cmake-core</p></li><br>> <li><p>ament-cmake-export-definitions</p></li><br>> <li><p>ament-cmake-export-dependencies</p></li><br>> <li><p>ament-cmake-export-include-directories</p></li><br>> <li><p>ament-cmake-export-interfaces</p></li><br>> <li><p>ament-cmake-export-libraries</p></li><br>> <li><p>ament-cmake-export-link-flags</p></li><br>> <li><p>ament-cmake-export-targets</p></li><br>> <li><p>ament-cmake-gen-version-h</p></li><br>> <li><p>ament-cmake-gmock</p></li><br>> <li><p>ament-cmake-google-benchmark</p></li><br>> <li><p>ament-cmake-gtest</p></li><br>> <li><p>ament-cmake-include-directories</p></li><br>> <li><p>ament-cmake-libraries</p></li><br>> <li><p>ament-cmake-nose</p></li><br>> <li><p>ament-cmake-pytest</p></li><br>> <li><p>ament-cmake-python</p></li><br>> <li><p>ament-cmake-ros</p></li><br>> <li><p>ament-cmake-target-dependencies</p></li><br>> <li><p>ament-cmake-test</p></li><br>> <li><p>ament-cmake-version</p></li><br>> <li><p>ament-lint-auto</p></li><br>> <li><p>foonathan-memory-staticdev</p></li><br>> <li><p>opencv-staticdev</p></li><br>> <li><p>dmabuf-transport</p></li><br>> <li><p>image-transport</p></li><br>> <li><p>yaml-cpp</p></li><br>> <li><p>camera-info-manager</p></li><br>> <li><p>rclcpp</p></li><br>> <li><p>sensor-msgs</p></li><br>> <li><p>nav-msgs</p></li><br>> <li><p>std-msgs</p></li><br>> <li><p>geometry-msgs</p></li><br>> <li><p>tf2</p></li><br>> <li><p>tf2-ros</p></li><br>> <li><p>tf2-geometry-msgs</p></li><br>> <li><p>cv-bridge</p></li><br>> <li><p>rosidl-adapter</p></li><br>> <li><p>ncnn-dev</p></li><br>> <li><p>rclcpp-components</p></li><br>> <li><p>rcutils</p></li><br>> <li><p>libgpiod</p></li><br>> <li><p>libgpiod-dev</p></li><br>> </ul> |

## `meta-qcom-robotics-extras`

**Recipes**

| Recipe | Description |
| --- | --- |
| recipes | - The recipes in `meta-qcom-robotics-extras` override those in `meta-qcom-robotics`. `meta-qcom-robotics` uses the prebuilt binaries by default, while `meta-qcom-robotics-extras` builds the source from Qualcomm proprietary repositories.<br>    - Consists of robotics feature recipes:<br><br><br>auto-explore<br>    sensor-service<br>    vio depth-vslam<br>    mono-vslam<br>    stereo-vslam<br>    voxel-map<br>    Copy to clipboard |

Last Published: Dec 30, 2024

[Previous Topic
Appendixes](https://docs.qualcomm.com/bundle/publicresource/80-70017-265/topics/references_a.md) [Next Topic
References](https://docs.qualcomm.com/bundle/publicresource/80-70017-265/topics/references.md)