# 机器人层规格

提供 QIR SDK 中使用的机器人层的详细信息。

QIR SDK 包含 Qualcomm Linux 层和机器人层。此信息列出了所有机器人层的详细信息。

- QIR 机器人层

    - [meta-ros](https://docs.qualcomm.com/doc/80-70022-265Y/topic/robotics-layers.html#section-meta-ros)
    - [meta-qcom-robotics-sdk](https://docs.qualcomm.com/doc/80-70022-265Y/topic/robotics-layers.html#section-meta-qcom-robotics-sdk)
    - [meta-qcom-robotics](https://docs.qualcomm.com/doc/80-70022-265Y/topic/robotics-layers.html#section-meta-qcom-robotics)
    - [meta-qcom-robotics-distro](https://docs.qualcomm.com/doc/80-70022-265Y/topic/robotics-layers.html#section-meta-qcom-robotics-distro)
- 机器人附加层

    [meta-qcom-robotics-extras](https://docs.qualcomm.com/doc/80-70022-265Y/topic/robotics-layers.html#section-meta-qcom-robotics-extras)

## `meta-ros`

`meta-ros` 层信息发布到 [meta-ros GitHub 存储库](https://github.com/ros/meta-ros)。

## `meta-qcom-robotics-sdk`

- **BitBake 类**

    下表列出了元数据层 `meta-qcom-robotics-sdk` 中定义的 BitBake 类：

    | BitBake 类 | 说明 |
    | --- | --- |
    | `psdk-package.bbclass` | <ul class="simple"><br><li><p>提供打包任务，将 QIR SDK artifact 打包到存档中。它由 <code class="docutils literal notranslate"><span class="pre">qirp-sdk</span></code> 配方调用。</p></li><br><li><p>配方编译完成后，易于安装的 artifact 存档位于 <code class="docutils literal notranslate"><span class="pre">&lt;workspace&gt;/build-qcom-wayland/tmp-glibc/deploy/qirpsdk_artifacts</span></code> 目录中。</p></li><br></ul> |
    | `psdk-base.bbclass` | <ul class="simple"><br><li><p>提供基本配置，以设置软件包名称并禁用 QIR SDK 未使用的任务。</p></li><br><li><p>在编译过程中由 <code class="docutils literal notranslate"><span class="pre">qirp-sdk</span></code> 配方调用。</p></li><br></ul> |
    | `psdk-extract.bbclass` | <ul class="simple"><br><li><p>提供提取任务，将功能 SDK 的 artifact 以各种压缩格式解压到源目录。</p></li><br><li><p>在编译过程中由 <code class="docutils literal notranslate"><span class="pre">qti-qim-product-sdk/qti-robotics</span></code> 配方调用。</p></li><br></ul> |
    | `psdk-install.bbclass` | <ul class="simple"><br><li><p>提供安装任务以拆分具有通用格式的功能 SDK artifact。artifact 可在 &lt;workspace&gt;/build-qcom-wayland/tmp-glibc/deploy/artifacts/${PN}_artifacts/ 处获得</p></li><br><li><p>在编译过程中由 <code class="docutils literal notranslate"><span class="pre">qti-qim-product-sdk/qti-qnn/qti-robotics</span></code> 配方调用。</p></li><br></ul> |
    | `psdk-image.bbclass` | <ul class="simple"><br><li><p>提供 qirpsdk 生成任务，收集各个功能 sdk 的 artifacts，触发 do_populate_sdk 任务，收集用于 qirpsdk 生成的标准 sdk。</p></li><br><li><p>在编译过程中由 <code class="docutils literal notranslate"><span class="pre">qcom-robotics-full-image</span></code> 配方调用。</p></li><br></ul> |
    | `psdk-pickup.bbclass` | <ul class="simple"><br><li><p>提供拾取任务，可根据配置文件（默认 <code class="docutils literal notranslate"><span class="pre">config_content.json</span></code>）选择功能 SDK 中的文件，将所有选中的文件移动到 <code class="docutils literal notranslate"><span class="pre">/</span></code> 目录下，最后集成到 QIR SDK 包中。</p></li><br><li><p>在编译过程中由 <code class="docutils literal notranslate"><span class="pre">qirp-sdk</span></code> 配方调用。</p></li><br></ul> |
- **Distro 配置**

    | `layer.conf` | 使用以下信息配置项目层：<br><br><br><br>> <br>> <br>> <ul class="simple"><br>> <li><p>配方文件路径</p></li><br>> <li><p>支持的 Yocto 版本</p></li><br>> <li><p>文件名</p></li><br>> </ul> |
    | --- | --- |
- **配方**

    | 配方 | 说明 |
    | --- | --- |
    | `recipes` | 包含 QIR 示例配方：<br><br><br><br>> <br>> <br>> <ul class="simple"><br>> <li><p><code class="docutils literal notranslate"><span class="pre">sample-object-segmentation_0.1.0.bb</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">sample-depth-estimation_0.0.1.bb</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">sample-remote-assistant_0.0.1.bb</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">sample-face-detection_0.0.1.bb</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">sample-resnet101_0.1.1.bb</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">sample-hand-detection_0.0.1.bb</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">simulation-sample-amr-simple-motion_0.0.1.bb</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">sample-hrnet-pose-estimation_1.0.0.bb</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">simulation-sample-pick-and-place_1.0.0.bb</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">sample-object-detction_0.1.0.bb</span></code></p></li><br>> </ul> |
    | `function-sdks` | 包含功能 SDK 配方和 QIR SDK 配方<br><br><br><br>> <br>> <br>> <ul class="simple"><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">qirp-sdk.bb</span></code></p></li><br>> </ul> |

## `meta-qcom-robotics`

- **BitBake 类**

下表列出了元数据层 `meta-qcom-robotics-sdk` 中定义的 BitBake 类：

> 
> 
> | BitBake 类 | 说明 |
> | --- | --- |
> | `fsdk-package.bbclass` | <ul class="simple"><br><li><p>提供打包任务，将机器人 artifact 打包到档案中。它由 <code class="docutils literal notranslate"><span class="pre">packagegroup-qcom-robotics</span></code> 配方调用。</p></li><br><li><p>配方编译完成后，易于安装的 artifact 存档位于 <code class="docutils literal notranslate"><span class="pre">&lt;workspace&gt;/build-qcom-wayland/tmp-glibc/deploy/roboticssdk_artifacts</span></code> 目录中。</p></li><br></ul> |
> | `psdk-base.bbclass` | <ul class="simple"><br><li><p>提供基本配置来设置软件包名称并禁用机器人 artifact 的未使用的任务。</p></li><br><li><p>在编译期间通过 <code class="docutils literal notranslate"><span class="pre">packagegroup-qcom-robotics</span></code> 配方调用。</p></li><br></ul> |
> | `robotics-package.bbclass` | <ul class="simple"><br><li><p>提供将所有机器人文件移动到 <code class="docutils literal notranslate"><span class="pre">pkg_dest</span></code> 目录的任务。<code class="docutils literal notranslate"><span class="pre">pkg_dest</span></code> 默认带“/”</p></li><br><li><p>提供用于设置软件包名称和软件包文件的基本配置。</p></li><br><li><p>在编译期间通过机器人功能配方调用。</p></li><br></ul> |
> | `robotics-qprebuilt-package.bbclass` | <ul class="simple"><br><li><p>提供将所有 ${WORKDIR}/usr 文件复制到 ${D} 的任务。</p></li><br><li><p>在编译期间通过机器人功能配方调用。</p></li><br></ul> |

- **Distro 配置**

    | `layer.conf` | 使用以下信息配置项目层：<br><br><br><br>> <br>> <br>> <ul class="simple"><br>> <li><p>配方文件路径</p></li><br>> <li><p>支持的 Yocto 版本</p></li><br>> </ul> |
    | --- | --- |
- **配方**

    | 配方 | 说明 |
    | --- | --- |
    | 配方 | 由机器人功能配方组成：<br><br><br><br>> <br>> <br>> <ul class="simple"><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">cartographer_2.1.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">qrb-ros-slam-msgs_2.1.bb</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">cartographer-ros_2.1.bb</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">cartographer-ros-msgs_2.1.bb</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">ranger-mini-base_0.0.1.bb</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">ranger-mini-bringup_0.0.1.bb</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">ugv-sdk_0.0.1.bb</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">ranger-mini-msg_0.0.1.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">qrb-ros-imu_1.0.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">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">python3-pytesseract_0.3.10.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">ocr-msg.bb</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-msgs_1.2.2-1.bb</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">rplidar-ros2_2.1.2-1.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">libqrc.bb</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">octomap_1.9.8-3.bb</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">nuttx-apps_0.0.1.bb</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">mcb-flash_0.0.1.bb</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">nuttx_0.0.1.bb</span></code></p></li><br>> </ul> |
    | recipes-sdk | 由脚本和 packagegroup-qcom-robotics 配方组成：<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 | 包括配方 append 文件，增加了扩展配置：<br><br><br><br>> <br>> <br>> <ul class="simple"><br>> <li><p><code class="docutils literal notranslate"><span class="pre">ceres-solver_%.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">syslog-plumber_%.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">diff-drive-controller_4.15.0-1.bbappend</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">joint-limits_4.18.0-1.bbappend</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">backward-ros_1.0.5-1.bbappend</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">moveit-ros-perception_2.10.0-1.bbappend</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">mcap-vendor_0.26.5-1.bbappend</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">tl-expected_1.0.2-5.bbappend</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">joint-state-broadcaster_4.15.0-1.bbappend</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">diagnostic-updater_4.2.1-1.bbappend</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">hardware-interface_4.18.0-1.bbappend</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">ros-workspace_1.0.3-6.bbappend</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">foxglove-bridge_0.8.0-1.bbappend</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">controller-interface_4.18.0-1.bbappend</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">nav2-collision-monitor_1.3.2-1.bbappend</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">dwb-critics_1.3.2-1.bbappend</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">nav2-planner_1.3.2-1.bbappend</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">nav2-map-server_1.3.2-1.bbappend</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">dwb-plugins_1.3.2-1.bbappend</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">nav2-voxel-grid_1.3.2-1.bbappend</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">opennav-docking-bt_1.3.2-1.bbappend</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">nav2-theta-star-planner_1.3.2-1.bbappend</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">nav2-rotation-shim-controller_1.3.2-1.bbappend</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">nav2-controller_1.3.2-1.bbappend</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">nav2-smoother_1.3.2-1.bbappend</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">nav-2d-utils_1.3.2-1.bbappend</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">nav2-amcl_1.3.2-1.bbappend</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">nav2-costmap-2d_1.3.2-1.bbappend</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">nav2-regulated-pure-pursuit-controller_1.3.2-1.bbappend</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">nav-2d-msgs_1.3.2-1.bbappend</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">nav2-bt-navigator_1.3.2-1.bbappend</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">nav2-msgs_1.3.2-1.bbappend</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">opennav-docking_1.3.2-1.bbappend</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">nav2-waypoint-follower_1.3.2-1.bbappend</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">dwb-core_1.3.2-1.bbappend</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">nav2-constrained-smoother_1.3.2-1.bbappend</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">dwb-msgs_1.3.2-1.bbappend</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">nav2-velocity-smoother_1.3.2-1.bbappend</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">nav2-util_1.3.2-1.bbappend</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">nav2-lifecycle-manager_1.3.2-1.bbappend</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">nav2-behaviors_1.3.2-1.bbappend</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">nav2-navfn-planner_1.3.2-1.bbappend</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">nav2-graceful-controller_1.3.2-1.bbappend</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">rsl_1.1.0-3.bbappend</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">google-benchmark-vendor_0.5.0-2.bbappend</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">octomap_1.9.8-3.bbappend</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">nav2-bringup_%.bbappend</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">navigation2_%.bbappend</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">nav2-bringup_1.3.2-1.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">rplidar-ros2_2.1.2-1.bbappend</span></code></p></li><br>> </ul> |
    | recipes-qrb-ros | 包含 qrb-ros 配方：<br><br><br><br>> <br>> <br>> <ul class="simple"><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-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-tensor-list-msgs_0.0.0.1.bb</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qrb-ros-nn-inference_0.0.0.1.bb</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qrb-inference-manager_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">dmabuf-transport_0.0.0.1.bb</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qrb-ros-video.bb</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qrb-video-v4l2-lib.bb</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qrb-ros-vision-msgs_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">qrb-ros-transport-point-cloud2-type_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-amr-msgs_0.0.0.1.bb</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qrb-follow-path-manager_0.0.0.1.bb</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qrb-ros-follow-path_0.0.0.1.bb</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qrb-ros-navigation-msgs_0.0.0.1.bb</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qrb-ros-robot-base-keyboard.bb</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qrb-ros-robot-base-urdf.bb</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qrb-ros-robot-base-msgs.bb</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qrb-robot-base-manager.bb</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qrb-ros-robot-base.bb</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qrb-ros-docker_0.0.0.1.bb</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qrb-ros-cv-tensor-common-process_0.0.1.bb</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qrb-ros-yolo-process_0.0.1.bb</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qrb-yolo-process-lib_0.0.1.bb</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qrb-ros-audio-service-msgs_0.0.1.bb</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qrb-ros-audio-service_0.0.1.bb</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qrb-audio-common-lib_0.0.1.bb</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qrb-audio-service-lib_0.0.1.bb</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qrb-ros-audio-common_0.0.1.bb</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qrb-ros-audio-common-msgs_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-sensor-client_0.0.0.1.bb</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qrb-amr-manager_0.0.0.1.bb</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qrb-ros-amr-serviceqrb-ros-amr_0.0.0.1.bb</span></code></p></li><br>> </ul> |

## `meta-qcom-robotics-distro`

- **Distro 配置**

    | `layer.conf` | 使用以下信息配置项目层：<br><br><br><br>> <br>> <br>> <ul class="simple"><br>> <li><p>配方文件路径</p></li><br>> <li><p>支持的 Yocto 版本</p></li><br>> </ul> |
    | --- | --- |
    | `qcom-robotics-ros2-jazzy.conf` | 使用以下信息配置 distro 功能：<br><br><br><br>> <br>> <br>> <ul class="simple"><br>> <li><p>ROS2 jazzy distro 启用</p></li><br>> <li><p>包括 Qualcomm Linux distro 的 conf 文件</p></li><br>> </ul> |
    | `qcom-robotics-ros2-humble.conf` | 使用以下信息配置 distro 功能：<br><br><br><br>> <br>> <br>> <ul class="simple"><br>> <li><p>ROS2 humble 发行版本支持</p></li><br>> <li><p>包括 Qualcomm Linux distro 的 conf 文件</p></li><br>> </ul> |
- **镜像配方**

    | 配方 | 说明 |
    | --- | --- |
    | `qcom-robotics-full-image` | 包括以下软件包：<br><br><br><br>> <br>> <br>> <ul class="simple"><br>> <li><p>packagegroup-qcom-ros2</p></li><br>> <li><p>qirp-sdk</p></li><br>> <li><p>packagegroup-qcom-robotics</p></li><br>> </ul> |
- **软件包组**

    | 软件包组 | 说明 |
    | --- | --- |
    | `packagegroup-qcom-robotics` | 上游基本 ROS2 软件包组和机器人所需的软件包：<br><br><br><br>> <br>> <br>> <ul class="simple"><br>> <li><p><code class="docutils literal notranslate"><span class="pre">lib-mem-dmabuf</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qrb-sensor-client</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qrb-ros-transport-image-type</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qrb-ros-transport-imu-type</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qrb-ros-transport-point-cloud2-type</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qrb-colorspace-convert-lib</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qrb-ros-colorspace-convert</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">dmabuf-transport</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qrb-ros-system-monitor</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qrb-ros-system-monitor-interfaces</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">rplidar-ros2</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qrb-audio-common-lib</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qrb-audio-service-lib</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qrb-ros-audio-common</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qrb-ros-audio-common-msgs</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qrb-ros-audio-service</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qrb-ros-audio-service-msgs</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">ocr-service</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">ocr-msg</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">libqrc-udriver</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">libqrc</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">cartographer-ros</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qrb-ros-battery</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">orbbec-description</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">orbbec-camera-msgs</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">qrb-ros-camera</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">ugv-sdk</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">ranger-mini-msg</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">ranger-mini-base</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">ranger-mini-bringup</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qrb-robot-base-manager</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qrb-ros-robot-base-keyboard</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qrb-ros-robot-base-urdf</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qrb-ros-robot-base</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qrb-ros-video</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qrb-ros-nn-inference</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qrb-yolo-process-lib</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qrb-ros-yolo-process</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qrb-ros-cv-tensor-common-process</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">nav2-bringup</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qrb-ros-docker</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qrb-follow-path-manager</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qrb-ros-follow-path</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qrb-amr-manager</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qrb-ros-amr</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">sample-hand-detection</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">sample-resnet101-quantized</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">simulation-sample-amr-simple-motion</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qrb-ros-imu</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">follow-me</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">foonathan-memory</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">foonathan-memory-dev</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">foonathan-memory-staticdev</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">opencv</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">opencv-staticdev</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">yaml-cpp</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">zbar</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">ncnn</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">libgpiod</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">graphviz</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">ceres-solver</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">ament-cmake-python</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">ament-cmake-ros</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">ament-package</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">ament-lint</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">ament-lint-auto</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">ament-cmake</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">ament-cmake-auto</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">ament-cmake-core</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">ament-cmake-export-definitions</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">ament-cmake-export-dependencies</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">ament-cmake-export-include-directories</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">ament-cmake-export-interfaces</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">ament-cmake-export-libraries</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">ament-cmake-export-link-flags</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">ament-cmake-export-targets</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">ament-cmake-gen-version-h</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">ament-cmake-gmock</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">ament-cmake-gtest</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">ament-cmake-include-directories</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">ament-cmake-libraries</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">ament-cmake-pytest</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">ament-cmake-python</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">ament-cmake-target-dependencies</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">ament-cmake-test</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">ament-cmake-vendor-package</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">ament-cmake-version</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">foonathan-memory-staticdev</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">rclcpp</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">rclcpp-lifecycle</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">rclcpp-action</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">rclcpp-components</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">builtin-interfaces</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">common-interfaces</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">fastrtps-cmake-module</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">rosidl-default-generators</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">rosidl-core-generators</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">rosidl-cmake</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">ros-environment</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">ros-workspace</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">pluginlib</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">python-cmake-module</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">sensor-client</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">battery-client</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">battery-service</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">syslog-plumber</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qcom-camera-server</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qcom-adreno</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">qcom-fastcv-binaries</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">camxapi-kt-dev</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">nuttx-internal</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">mcbflash-internal</span></code></p></li><br>> </ul> |
    | `packagegroup-qcom-ros2` | 上游基础 ROS2 软件包和一些示例程序。<br><br><br><br>> <br>> <br>> <ul class="simple"><br>> <li><p><code class="docutils literal notranslate"><span class="pre">rosidl-default-generators</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">launch-ros</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">joint-state-publisher</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">ament-lint-auto</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">ament-lint-common</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">ament-cmake-auto</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">ament-cmake-ros</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">rcl-logging-noop</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">image-transport</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">domain-bridge</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">navigation2</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">nav2-common</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">nav2-msgs</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">image-transport-plugins</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">cv-bridge</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">vision-msgs</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">foxglove-bridge</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">foxglove-msgs</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">moveit-runtime</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">moveit-configs-utils</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">moveit-planners-chomp</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">moveit-ros-perception-dev</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">moveit-planners-ompl-dev</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">demo-nodes-cpp</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">demo-nodes-py</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">example-interfaces</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">logging-demo</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">composition</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">examples-rclcpp-minimal-action-server</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">action-tutorials-cpp</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">examples-rclcpp-minimal-publisher</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">examples-rclcpp-minimal-subscriber</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">examples-rclpy-minimal-subscriber</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">examples-rclpy-minimal-publisher</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">examples-rclpy-minimal-action-server</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">examples-rclpy-minimal-action-client</span></code></p></li><br>> </ul> |

## `meta-qcom-robotics-extras`

**配方**

| 配方 | 说明 |
| --- | --- |
| 配方 | `meta-qcom-robotics-extras` 中的配方会覆写 `meta-qcom-robotics` 中的配方。`meta-qcom-robotics` 默认使用预编译的二进制文件，而 `meta-qcom-robotics-extras` 从 Qualcomm 专有代码仓库编译源代码。由机器人功能配方组成：<br><br><br><br>> <br>> <br>> <ul class="simple"><br>> <li><p><code class="docutils literal notranslate"><span class="pre">auto-explore</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">dfs</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">sensor-service</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">vio</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">depth-vslam</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">mono-vslam</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">stereo-vslam</span></code></p></li><br>> <li><p><code class="docutils literal notranslate"><span class="pre">voxel-map</span></code></p></li><br>> </ul> |

Last Published: Nov 11, 2025

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