# 刷写和安装

介绍了刷写机器人镜像和将 QIRP SDK 安装到设备的步骤。

**刷写机器人镜像**

**步骤：**

1. 使用[进入 EDL 模式](https://docs.qualcomm.com/bundle/publicresource/topics/80-70017-254/flash_images.html#move-to-edl-mode)中的手动步骤 ![ico1](data:image/png;base64,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) 将机器设置为 EDL 模式。

Note

QIRP SDK 不支持当前 Qualcomm Linux 版本的 QCS8300。

    - 对于 RB3 Gen2 机器视觉开发套件，请按照 **QCS6940/QCS5430** 标签页下的步骤操作。
    - 对于 IQ-9 Beta 评估套件，请按照 **QCS9075/QCS8300** 标签页下的步骤操作。
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/80-70017-254/flash_images.html)中的步骤进行操作。

    - 预编译的机器人镜像请参阅[下载并使用预编译软件包部分](https://docs.qualcomm.com/doc/80-70017-265Y/topic/download-the-prebuilt-robotics-image_3_1.html#download-the-prebuilt-robotics-image-3-1)。
    - [Build GitHub](https://docs.qualcomm.com/doc/80-70017-265Y/topic/build-with-github-binaries.html#build-with-github-binaries) 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/80-70017-265Y/topic/using-detailed-instructions_3_2.html#using-detailed-instructions-3-2)中生成的机器人镜像

**在设备上安装 QIRP SDK**

**步骤：**

1. 在主机上，转到 artifact 目录并使用 `tar` 命令解压软件包。

cd <workspace>/build-qcom-robotics-ros2-humble\
        /tmp-glibc/deploy/qirpsdk_artifacts
        tar -zxf qirp-sdk_<qirp_version>.tar.gz
        Copy to clipboard

    `qirp-sdk` 目录已生成。

Note

`qirp-sdk_<qirp_version>.tar.gz` 位于 QIRP 组件部署的路径中。`<qirp_version>` 随每个版本而变化，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/80-70017-260)。
2. 按照[使用 SSH 登录](https://docs.qualcomm.com/bundle/publicresource/topics/80-70017-254/how_to.html#use-ssh)中提到的步骤在 “Permissive” 模式下启用 `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) mount -o remount,rw /usr
        (ssh) cd /opt && tar -zxf ./qirp-sdk.tar.gz
        (ssh) chmod +x /opt/scripts/*.sh
        (ssh) cd /opt/scripts && ./install.sh
        Copy to clipboard

Last Published: Jan 24, 2025

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