# Robotics layers specifications
Source: [https://docs.qualcomm.com/doc/80-70015-265/topic/robotics-layers.html](https://docs.qualcomm.com/doc/80-70015-265/topic/robotics-layers.html)
Provides the detailed information for the robotics layers used in QIRP
SDK.
The QIRP SDK includes both Qualcomm Linux layers and robotics layers. This information
lists the details of all robotics layers.
- QIRP robotics layers
- [meta-ros](https://docs.qualcomm.com/doc/80-70015-265/topic/robotics-layers.html#robotics-layers__section_meta_ros)
- [meta-qcom-robotics-sdk](https://docs.qualcomm.com/doc/80-70015-265/topic/robotics-layers.html#robotics-layers__section_meta_qcom_robotics_sdk)
- [meta-qcom-robotics](https://docs.qualcomm.com/doc/80-70015-265/topic/robotics-layers.html#robotics-layers__section_meta_qcom_robotics)
- [meta-qcom-robotics-distro](https://docs.qualcomm.com/doc/80-70015-265/topic/robotics-layers.html#robotics-layers__section_meta_qcom_robotics_distro)
- Robotics extra layer
[meta-qcom-robotics-extras](https://docs.qualcomm.com/doc/80-70015-265/topic/robotics-layers.html#robotics-layers__section_meta_qcom_robotics_extras)
## `meta-ros`
The `meta-ros` layer information is published to the [meta-ros
GitHub repository](https://github.com/ros/meta-ros).
## `meta-qcom-robotics-sdk`
- **BitBake classes**
The following table lists the BitBake classes defined
in the metadata layer `meta-qcom-robotics-sdk`:
| BitBake class | Description |
| --- | --- |
| `psdk-package.bbclass` |
- Provides a packaging task to pack QIRP SDK artifacts
into an archive. It is invoked by the
qirp-sdk recipe.
- The easy-to-install artifact archives are available
at the
<workspace>/build-qcom-wayland/tmp-glibc/deploy/qirpsdk_artifacts
directory after the recipe build is complete.
|
| `psdk-base.bbclass` |
- Provides base configurations to set the package name
and disable the unused tasks for QIRP SDK.
- Invoked by the
qirp-sdk recipe
during the build.
|
| `psdk-extract.bbclass` |
- Provides an extracting task to decompress function
SDKs artifacts in various compression formats, and
then provides the decompressed files to the
recipe-sysroot directory of
qirp-sdk for integration.
- Invoked by the
qti-qim-product-sdk/qti-qnn/qti-qirf
recipe during the build.
|
| `psdk-pickup.bbclass` |
- Provides a pickup task that selects files in
function SDKs based on the configuration file
(config_content.json by default),
moves all selected files to the
/opt/qcom/qirp-sdk directory, and
finally integrates them into the QIRP SDK
package.
- Invoked by the
qirp-sdk recipe
during the build.
|
- **Distro configuration**
| `layer.conf` | Configures the project layers with the following
information:
- Recipe file path
- Supported Yocto version
- Filename
|
| --- | --- |
- **Recipes**
| Recipe | Description |
| --- | --- |
| `recipes-sdk` | Consists of function SDK recipes and QIRP SDK recipe:
qti-qim-sdk.bb
qti-qim-product-sdk.bb
qti-qirf.bb
qti-qnn.bb
qirp-sdk.bb
|
## `meta-qcom-robotics`
- **BitBake classes**
The following table lists the BitBake classes defined
in the metadata layer `meta-qcom-robotics-sdk`:
| BitBake class | Description |
| --- | --- |
| `fsdk-package.bbclass` |
- Provides a packaging task to pack the Robotics
Function SDK artifacts into an archive. It is
invoked by the qirf-sdk
recipe.
- The easy-to-install artifact archives are available
at the
<workspace>/build-qcom-wayland/tmp-glibc/deploy/qirfsdk_artifacts
directory after the recipe build is complete.
|
| `psdk-base.bbclass` |
- Provides base configurations to set the package name
and disables the unused tasks for the QIRF SDK.
- Invoked by
qirf-sdk recipe during
the build.
|
| `robotics-package.bbclass` |
- Provides a task to move all robotics files to the
/opt/qcom directory.
- Provides base configurations to set the package name
and package file.
- Invoked by the robotics feature recipes during the
build.
|
- **Distro configuration**
| `layer.conf` | Configures the project layers with the following
information:
- Recipe file path
- Supported Yocto version
|
| --- | --- |
- **Recipes**
| Recipe | Description |
| --- | --- |
| recipes | Consists of robotics feature recipes:
auto-explore.bb
follow-me.bb
libqrc-udriver.bb
librealsense2.bb
motorcontrol.bb
ncnn.bb
robot-battery.bb
robot-camera.bb
robot-control.bb
robot-sensor.bb
rplidar-ros2.bb
sensor-service.bb
tesseract.bb
vio.bb
vslam.bb
|
| recipes-sdk | Consists of QIRP SDK recipe:
|
| recipes-bbappends | Consists of the recipe append files, which add extended
configuration:
nav2-bringup.bbappend
navigation2.bbappend
realsense2-camera.bbappend
realsense2-camera-msgs.bbappend
rplidar-ros2.bbappend
syslog-plumber.bbappend
tensorflow-lite.bbappend
|
## `meta-qcom-robotics-distro`
- **Distro configuration**
| `layer.conf` | Configures the project layers with the following
information:
- Recipe file path
- Supported Yocto version
|
| --- | --- |
| `qcom-robotics-ros2-humble.conf` | Configures the distro feature with the following
information:
- ROS2 humble distro enablement
- Includes distro conf file of Qualcomm Linux
|
- **Image recipe**
| Recipe | Description |
| --- | --- |
| `qcom-robotics-full-image` | Consists of these packages:
- ros-core
- qirp-sdk
- packagegroup-qcom-robotics
|
- **Package groups**
| Package group | Description |
| --- | --- |
| `packagegroup-qcom-robotics` | Package group for upstream basic ROS2 packages, and
packages needed for robotics:
- ament-cmake
- ament-cmake-auto
- ament-cmake-core
- ament-cmake-export-definitions
- ament-cmake-export-dependencies
- ament-cmake-export-include-directories
- ament-cmake-export-interfaces
- ament-cmake-export-libraries
- ament-cmake-export-link-flags
- ament-cmake-export-targets
- ament-cmake-gen-version-h
- ament-cmake-gmock
- ament-cmake-google-benchmark
- ament-cmake-gtest
- ament-cmake-include-directories
- ament-cmake-libraries
- ament-cmake-nose
- ament-cmake-pytest
- ament-cmake-python
- ament-cmake-ros
- ament-cmake-target-dependencies
- ament-cmake-test
- ament-cmake-version
- ament-lint-auto
- foonathan-memory-staticdev
- opencv-staticdev
- dmabuf-transport
- image-transport
- yaml-cpp
- camera-info-manager
- rclcpp
- sensor-msgs
- nav-msgs
- std-msgs
- geometry-msgs
- tf2
- tf2-ros
- tf2-geometry-msgs
- cv-bridge
- rosidl-adapter
- ncnn-dev
- rclcpp-components
- rcutils
- libgpiod
- libgpiod-dev
|
## `meta-qcom-robotics-extras`
**Recipes**
| Recipe | Description |
| --- | --- |
| recipes | The recipes in `meta-qcom-robotics-extras`
override those in `meta-qcom-robotics`.
`meta-qcom-robotics` uses the prebuilt
binaries by default, while
`meta-qcom-robotics-extras` builds the source
from Qualcomm proprietary repositories.
Consists of robotics feature recipes:
auto-explore
sensor-service
vio
depth-vslam
mono-vslam
stereo-vslam
voxel-mapCopy to clipboard |
**Parent Topic:** [Appendixes](https://docs.qualcomm.com/doc/80-70015-265/topic/references_a.html)
Last Published: Oct 15, 2024
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