# 下载并使用预编译包

利用以下的预编译机器人包获得开箱即用的体验

- Qualcomm Dragonwing^TM^ RB3 Gen 2 机器视觉开发套件
- Qualcomm Dragonwing^TM^ IQ-9075 评估套件

此信息说明了如何下载和使用机器人预编译包，使您无需编译过程即可获得开箱即用的体验。该预编译包包括以下内容：

- **机器人镜像**：基于 Qualcomm Linux 发行版本的镜像，添加了 ROS 核心包并默认包含 QIRP SDK。您可以直接使用机器人镜像来获得开箱即用的体验。
- **QIRP SDK**：不仅提供开箱即用的 runtime 安装包，还提供交叉编译工具链。使用该工具链，您可以基于示例代码在较短时间内开发应用程序。
- **机器人 eSDK**：提供用于编译机器人镜像的 Yocto 工具链。关于详细信息，请参阅[使用预编译的机器人 eSDK 编译机器人镜像](https://docs.qualcomm.com/doc/80-70018-265Y/topic/build-with-prebuilt-esdk.html#build-with-prebuilt-esdk)。

**步骤：**

Tab RB3 Gen 2 机器视觉开发套件
Tab IQ-9075 评估套件

1. 下载预编译包。

    - RB3 Gen 2 机器视觉开发套件 x86 镜像

wget https://artifacts.codelinaro.org/artifactory/qli-ci/flashable-binaries/qirpsdk/qcs6490-rb3gen2-vision-kit/x86-qcom-6.6.65-QLI.1.4-Ver.1.1_robotics-product-sdk-1.1.zip
            Copy to clipboard
    - RB3 Gen 2 机器视觉开发套件 Arm^®^ 镜像

wget https://artifacts.codelinaro.org/artifactory/qli-ci/flashable-binaries/qirpsdk/qcs6490-rb3gen2-vision-kit/arm-qcom-6.6.65-QLI.1.4-Ver.1.1_robotics-product-sdk-1.1.zip
            Copy to clipboard
2. 使用以下命令解压该软件包：

    - RB3 Gen 2 机器视觉开发套件 x86 镜像

unzip x86-qcom-6.6.65-QLI.1.4-Ver.1.1_robotics-product-sdk-1.1.zip
            Copy to clipboard
    - RB3 Gen 2 机器视觉开发套件 Arm^®^ 镜像

unzip arm-qcom-6.6.65-QLI.1.4-Ver.1.1_robotics-product-sdk-1.1.zip
            Copy to clipboard

    下表列出了内容和相应的位置：

表：QCS6490 预编译项的内容和位置

    | 内容类型 | 文件路径 |
    | --- | --- |
    | 机器人镜像 | `<decompressed_workspace>/target/qcs6490-rb3gen2-vision-kit/qcom-robotics-full-image` |
    | QIRP SDK | `<decompressed_workspace>/target/qcs6490-rb3gen2-vision-kit/qirpsdk_artifacts/qcs6490-rb3gen2-vision-kit/qirp-sdk_<version>.tar.gz` |
    | 机器人 eSDK | `<decompressed_workspace>/target/qcs6490-rb3gen2-vision-kit/sdk/qcom-robotics-ros2-jazzy-x86_64-qcom-robotics-full-image-armv8-2a-qcs6490-rb3gen2-vision-kit-toolchain-ext-2.2.0.sh` |
3. 通过完成[编译独立的QDL](https://docs.qualcomm.com/bundle/publicresource/topics/80-70018-254/how_to.html#build-a-standalone-qdl) 中所述的以下步骤来编译独立的QDL。

    1. 安装依赖软件包。
    2. 下载并编译 Linux 刷写工具 (QDL)。
4. 对于新设备，请按照 [Qualcomm Linux 编译指南：更新 udev 规则](https://docs.qualcomm.com/bundle/publicresource/topics/80-70018-254/flash_images.html#update-udev-rules)中的步骤更新 `udev` 规则。
5. 按照 [Qualcomm Linux 编译指南：进入 EDL 模式](https://docs.qualcomm.com/bundle/publicresource/topics/80-70018-254/flash_images.html#move-to-edl-mode)中的手动步骤，强制设备进入 EDL 模式以启用软件刷写。

    ![edl-manual](data:image/png;base64,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)
6. 使用生成的 QDL 工具将机器人镜像刷写到设备。

Note

机器人 SDK 的 QDL 在不同的路径中生成。确保使用以下命令将 QDL 刷写到设备，其中 `<prebuilt_package_extracted_path>` 表示解压后的预编译包的根路径。

./qdl --storage ufs --include <prebuilt_package_extracted_path>/target/qcs6490-rb3gen2-vision-kit/qcom-robotics-full-image \
        <prebuilt_package_extracted_path>/target/qcs6490-rb3gen2-vision-kit/qcom-robotics-full-image/prog_firehose_ddr.elf \
        <prebuilt_package_extracted_path>/target/qcs6490-rb3gen2-vision-kit/qcom-robotics-full-image/rawprogram*.xml \
        <prebuilt_package_extracted_path>/target/qcs6490-rb3gen2-vision-kit/qcom-robotics-full-image/patch*.xml
        Copy to clipboard
7. 将预编译的 QIRP SDK 安装到设备上。

    1. 在主机上，移动到artifacts 所在目录并使用 `tar` 命令解压包。

cd <prebuilt_package_extracted_path>/target/qcs6490-rb3gen2-vision-kit/qirpsdk_artifacts/qcs6490-rb3gen2-vision-kit
            tar -zxf qirp-sdk_<qirp_version>.tar.gz
            Copy to clipboard

        `qirp-sdk` 目录已生成。
    2. 按照[使用 SSH 登录](https://docs.qualcomm.com/bundle/publicresource/topics/80-70018-254/how_to.html#use-ssh)中提及的步骤在“Permissive”模式下启用 `SSH`。
    3. 要部署 QIRP artifacts，使用以下命令将 QIRP 文件推送到设备：

cd <prebuilt_package_extracted_path>/target/qcs6490-rb3gen2-vision-kit/qirpsdk_artifacts/qcs6490-rb3gen2-vision-kit/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

1. 下载预编译包。

    - IQ-9075 评估套件 x86 镜像

wget https://artifacts.codelinaro.org/artifactory/qli-ci/flashable-binaries/qirpsdk/qcs9075-rb8-core-kit/x86-qcom-6.6.65-QLI.1.4-Ver.1.1_robotics-product-sdk-1.1.zip
            Copy to clipboard
    - IQ-9075 评估套件 Arm^®^ 镜像

wget https://artifacts.codelinaro.org/artifactory/qli-ci/flashable-binaries/qirpsdk/qcs9075-rb8-core-kit/arm-qcom-6.6.65-QLI.1.4-Ver.1.1_robotics-product-sdk-1.1.zip
            Copy to clipboard
2. 使用以下命令解压该软件包：

    - IQ-9075 评估套件 x86 镜像

unzip x86-qcom-6.6.65-QLI.1.4-Ver.1.1_robotics-product-sdk-1.1.zip
            Copy to clipboard
    - IQ-9075 评估套件 Arm^®^ 镜像

unzip arm-qcom-6.6.65-QLI.1.4-Ver.1.1_robotics-product-sdk-1.1.zip
            Copy to clipboard

    下表列出了内容和相应的位置：

表：QCS9075 预编译项的内容和位置

    | 内容类型 | 文件路径 |
    | --- | --- |
    | 机器人镜像 | `<decompressed_workspace>/target/qcs9075-rb8-core-kit/qcom-robotics-full-image` |
    | QIRP SDK | `<decompressed_workspace>/target/qcs9075-rb8-core-kit/qirpsdk_artifacts/qcs9075-rb8-core-kit/qirp-sdk_<version>.tar.gz` |
    | 机器人 eSDK | `<decompressed_workspace>/target/qcs9075-rb8-core-kit/sdk/qcom-robotics-ros2-jazzy-x86_64-qcom-robotics-full-image-armv8-2a-qcs9075-rb8-core-kit-toolchain-ext-2.2.0.sh` |
3. 通过完成[编译独立的QDL](https://docs.qualcomm.com/bundle/publicresource/topics/80-70018-254/how_to.html#build-a-standalone-qdl) 中所述的以下步骤来编译独立的QDL。

    1. 安装依赖软件包。
    2. 下载并编译 Linux 刷写工具 (QDL)。
4. 对于新设备，请按照 [Qualcomm Linux 编译指南：更新 udev 规则](https://docs.qualcomm.com/bundle/publicresource/topics/80-70018-254/flash_images.html#update-udev-rules)中的步骤更新 `udev` 规则。
5. 按照[进入 EDL 模式](https://docs.qualcomm.com/bundle/publicresource/topics/80-70018-254/flash_images.html#move-to-edl-mode)中所述的手动步骤，强制设备进入 EDL 模式以启用软件刷写。

    ![edl-manual-9075](data:image/png;base64,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)
6. 使用生成的 QDL 工具将机器人镜像刷写到设备。

Note

机器人 SDK 的 QDL 在不同的路径中生成。确保使用以下命令将 QDL 刷写到设备，其中 `<prebuilt_package_extracted_path>` 表示解压后的预编译包的根路径。

./qdl --storage ufs --include <prebuilt_package_extracted_path>/target/qcs9075-rb8-core-kit/qcom-robotics-full-image \
        <prebuilt_package_extracted_path>/target/qcs9075-rb8-core-kit/qcom-robotics-full-image/prog_firehose_ddr.elf \
        <prebuilt_package_extracted_path>/target/qcs9075-rb8-core-kit/qcom-robotics-full-image/rawprogram*.xml \
        <prebuilt_package_extracted_path>/target/qcs9075-rb8-core-kit/qcom-robotics-full-image/patch*.xml
        Copy to clipboard
7. 将预编译的 QIRP SDK 安装到设备上。

    1. 在主机上，移动到artifacts 所在目录并使用 `tar` 命令解压包。

cd <prebuilt_package_extracted_path>/target/qcs9075-rb8-core-kit/qirpsdk_artifacts/qcs9075-rb8-core-kit
            tar -zxf qirp-sdk_<qirp_version>.tar.gz
            Copy to clipboard

        `qirp-sdk` 目录已生成。
    2. 按照[使用 SSH 登录](https://docs.qualcomm.com/bundle/publicresource/topics/80-70018-254/how_to.html#use-ssh)中提及的步骤在“Permissive”模式下启用 `SSH`。
    3. 要部署 QIRP artifacts，使用以下命令将 QIRP 文件推送到设备：

cd <prebuilt_package_extracted_path>/target/qcs9075-rb8-core-kit/qirpsdk_artifacts/qcs9075-rb8-core-kit/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

## 后续步骤

您现在可以执行以下操作：

- [运行机器人示例应用程序](https://docs.qualcomm.com/doc/80-70018-265Y/topic/run-robotic-samples_3_4.html#run-robotic-samples-3-4)
- [开发机器人应用程序](https://docs.qualcomm.com/doc/80-70018-265Y/topic/develop-your-first-application_6.html#develop-your-first-application-6)

Last Published: May 12, 2025

[Previous Topic
快速入门](https://docs.qualcomm.com/bundle/publicresource/80-70018-265Y/topics/quick-start_3.md) [Next Topic
运行机器人示例应用程序](https://docs.qualcomm.com/bundle/publicresource/80-70018-265Y/topics/run-robotic-samples_3_4.md)