# Qualcomm Robotics RB5 Platform architecture (Linux Embedded)
Source: [https://docs.qualcomm.com/doc/80-88500-2/topic/qualcomm_robotics_rb5_platform_architecture_linux_enabled.html](https://docs.qualcomm.com/doc/80-88500-2/topic/qualcomm_robotics_rb5_platform_architecture_linux_enabled.html)
The SDKs enable developers to implement the following features of robotics:
Note: Robotic
features are not yet enabled on Linux Embedded systems.
- Object tracking, detection, and classification
- Object depth estimation and obstacle avoidance
- Visual simultaneous localization and mapping (vSLAM)
- Stereo-vSLAM support
- Mono-vSLAM support
- Visual inertial odometry (VIO)
- Path planning and 3D-map formation
- Face detection and recognition
- Scene classification and understanding
- Voice activation and audio classification
- Deep learning
There are multiple subsystems within Qualcomm Robotics RB5. The following are some of the
salient features in this platform:
- Multimedia subsystems (MMSS) comprise display, graphics,
audio, video, and camera can be accessed from the user space
- Qualcomm GStreamer (GST) plug-ins to access the video and
camera subsystems using the Qualcomm Multimedia framework (QMMF)
- Qualcomm-customized Pulse GStreamer plug-ins can be used for the audio
functionality
- Display can be Wayland; access is directly through the Wayland protocol for Weston
applications
- Support for ROS2.0; the Robotics Vision modules interact with
the ROS2.0 per the interface specification of ROS2.0
- Sensor data is available through the sensor ROS nodes
- Qualcomm-specific artificial intelligence (AI) and machine learning (ML) components
are included in the platform
- Qualcomm Neural Processing SDK is accessible via a GStreamer plug-in
- Support for TensorFlow Lite (TFLite) and associated GST plug-ins are added to the
platform; standard TFLite applications can be executed in the shell
- Support for the Qualcomm Computer Vision SDK
- Support for the Hexagon SDK
Yocto IPK mechanism is used for local installs.
The QMMF provides access to low-level APIs using the GST elements. It is recommended to
use GStreamer for accessing MMSS.
Note: For more information on GStreamer, see GStreamer Tutorials
at: [https://gstreamer.freedesktop.org/documentation/tutorials/index.html?gi-language=python](https://gstreamer.freedesktop.org/documentation/tutorials/index.html?gi-language=python)
## Qualcomm Robotics RB5 build system (Linux
Embedded)
Files used to build an image are stored in layers. Layers contain different types of
customizations and come from different sources. Some of the files in a layer are
called recipes.
Yocto Project recipes contain the mechanism to retrieve source code, build, and
package a component.
| Components | Description |
| --- | --- |
| **Linux Embedded configuration files** | **Linux Embedded configuration files** |
| Metadata | The core of the Yocto Project |
| Machine/distro | Distribution configuration files are located in a
`conf/distro` directory within the metadata
that contains the distribution configuration. Default
distributions supported by Qualcomm Linux Embedded are
maintained in
`/poky/meta-qti-distro/conf/distro/`. |
| **Yocto build system** | **Yocto build system** |
| Source fetch |
- Fetches the source code
- Uses the
SRC_URI variable and prefix of the
argument to determine the correct fetcher module
|
| Patch apply |
- Locates the patch files and applies them to the source
code
- After fetching and unpacking the source files, the build
system uses the SRC_URI statements of the
recipe to locate and apply patch files to the source
code
|
| Configuration |
- The
do_configure component failing is
related to incorrect commands
- For example, feeding GCC while
clang is
needed and feeding aarch64 while
armhf is fed
|
| Customized metadata |
- Finds information to create a Yocto custom meta layer needed
to support the custom board
- For example, the ROS2 meta layer is created
|
| Add qrb5165 distro | To add a distribution, place a new distro configuration file in
the `conf/distro` directory in the
`meta-qti-distro` layer mentioning details
about the distribution features |
| OSS debs | Debian package groups for OSS |
| Qualcomm debs | Debian package groups for Qualcomm |
| Raw/ext4 image | Final system image file (raw for full ext4 image file or ext4 for
sparse image) |
| Do\_Rootfs/make\_ext4 | Native tools like x86 used in the compilation, for example,
makefs\_ext4 |
Note: Qualcomm Linux uses the Yocto Project as the build system to build
images. This framework provides key capabilities that enable build configurations
for specific customization needs. The code is organized as meta layers. For more
information about the Yocto framework, see [https://docs.yoctoproject.org/brief-yoctoprojectqs/index.html](https://docs.yoctoproject.org/brief-yoctoprojectqs/index.html).
**Parent Topic:** [Build system](https://docs.qualcomm.com/doc/80-88500-2/topic/4_Qualcomm_Robotics_RB5_build_system.html)
Last Published: Aug 18, 2023
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