# Develop a sample ROS2 application This information describes how to use the QIR SDK toolchain to compile a simple ROS 2 sample application. The demos and code for both Python and C++ development are available as examples. ## Install the prebuilt `QIR SDK` to the host On the host computer, go to the artifacts directory and decompress `QIR SDK` using the `tar` command: > > > cd /target/qcs6490-rb3gen2-vision-kit/qirpsdk_artifacts/qcs6490-rb3gen2-vision-kit > tar -zxvf qirp-sdk_.tar.gz > Copy to clipboard > > > This command generates the `qirp-sdk` directory. Note - The `qirp-sdk_.tar.gz` is located in the deployed path of QIR artifacts. The `` changes with each release, such as 2.0.0, 2.0.1. For example, the complete package name can be `qirp-sdk_2.5.0.tar.gz`. - For all released versions, see [Qualcomm® Intelligent Robotics SDK (QIR SDK) 2.0 Release Notes](https://docs.qualcomm.com/doc/80-70023-260). - The QIR SDK supports these development kits for Qualcomm Linux: > > > | Development kit | Machine name | > | --- | --- | > | Qualcomm Dragonwing^TM^ RB3 Gen 2 Vision Kit | `qcs6490-rb3gen2-vision-kit` | > | Qualcomm Dragonwing^TM^ IQ-9075 EVK | `qcs9075-iq-9075-evk` | > | Qualcomm Dragonwing^TM^ IQ-8 Beta Evaluation Kit | `qcs8300-ride-sx` | ## Using QIR SDK to develop applications 1. Set up the cross-compile environment. cd /target/qcs6490-rb3gen2-vision-kit/qirpsdk_artifacts/qcs6490-rb3gen2-vision-kit/qirp-sdk source setup.sh Copy to clipboard 2. Fetch the project as the code baseline. git clone https://github.com/ros2/demos.git -b jazzy Copy to clipboard 3. Develop your own application either in C++ or Python. Tab Develop ROS application using C++ Tab Develop ROS application using Python 1. Develop your own C++ application. The following is an example. cd demos/demo_nodes_cpp vim src/topics/talker.cpp +46 Copy to clipboard Change the `demo_nodes_cpp/src/topics/talker.cpp` msg data in line `46`: msg_->data = "Hello World : Qualcomm : " + std::to_string(count_++); Copy to clipboard 2. Set the necessary environment variables and use the colcon tool to build the ROS2 package demo\_nodes\_cpp and its dependencies. colcon build --merge-install --packages-up-to demo_nodes_cpp --cmake-args ${CMAKE_ARGS} Copy to clipboard 3. Push the demo to the device. cd demo_nodes_cpp/install tar -czvf demo_nodes_cpp.tar.gz lib share scp demo_nodes_cpp.tar.gz root@[ip-addr]:/opt/ ssh root@[ip-addr] (ssh) mount -o remount,rw /usr (ssh) tar --no-overwrite-dir --no-same-owner -zxf /opt/demo_nodes_cpp.tar.gz -C /usr/ Copy to clipboard 4. Run the demo application on the device. (ssh) source /usr/share/qirp-setup.sh (ssh) ros2 run demo_nodes_cpp talker open a new terminal, and run the following commands: (ssh) source /usr/share/qirp-setup.sh (ssh) ros2 run demo_nodes_cpp listener Copy to clipboard 5. Check the output. The terminal 1 output is as follows: [INFO] [1739864779.759719598] [talker]: Publishing: 'Hello World : Qualcomm : 1' [INFO] [1739864780.759687179] [talker]: Publishing: 'Hello World : Qualcomm : 2' [INFO] [1739864781.760812014] [talker]: Publishing: 'Hello World : Qualcomm : 3' ... The terminal 2 output is as follows: [INFO] [1739864779.760348380] [listener]: I heard: [Hello World : Qualcomm : 1] [INFO] [1739864780.760276535] [listener]: I heard: [Hello World : Qualcomm : 2] [INFO] [1739864781.762066296] [listener]: I heard: [Hello World : Qualcomm : 3] ... Copy to clipboard 1. Develop your own Python application. The following is an example. cd demos/demo_nodes_py vim demo_nodes_py/topics/talker.py +33 Copy to clipboard Change the `demo_nodes_py/topics/talker.py` msg data in line `33`: msg.data = 'Hello World : Qualcomm : {0}'.format(self.i) Copy to clipboard 2. Set the necessary environment variables and use the colcon tool to build the ROS 2 package demo\_nodes\_py and its dependencies. colcon build --merge-install --packages-up-to demo_nodes_py Copy to clipboard 3. Push the demo to the device. cd demo_nodes_py/install tar -czvf demo_nodes_py.tar.gz lib share scp demo_nodes_py.tar.gz root@[ip-addr]:/opt/ ssh root@[ip-addr] (ssh) mount -o remount,rw /usr (ssh) tar --no-overwrite-dir --no-same-owner -zxf /opt/demo_nodes_py.tar.gz -C /usr/ Copy to clipboard 4. Run the demo application on the device. (ssh) export HOME=/home (ssh) source /usr/bin/ros_setup.sh && source /usr/share/qirp-setup.sh (ssh) ros2 run demo_nodes_py talker open a new terminal, and run the following commands: (ssh) export HOME=/home (ssh) source /usr/bin/ros_setup.sh && source /usr/share/qirp-setup.sh (ssh) ros2 run demo_nodes_py listener Copy to clipboard 5. Check the output. The terminal 1 output is as follows: [INFO] [1739864779.759719598] [talker]: Publishing: 'Hello World : Qualcomm : 1' [INFO] [1739864780.759687179] [talker]: Publishing: 'Hello World : Qualcomm : 2' [INFO] [1739864781.760812014] [talker]: Publishing: 'Hello World : Qualcomm : 3' ... The terminal 2 output is as follows: [INFO] [1739864779.760348380] [listener]: I heard: [Hello World : Qualcomm : 1] [INFO] [1739864780.760276535] [listener]: I heard: [Hello World : Qualcomm : 2] [INFO] [1739864781.762066296] [listener]: I heard: [Hello World : Qualcomm : 3] ... 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