# Robotics layers specifications

Provides the detailed information for the robotics layers used in QIR SDK.

The QIR SDK includes both Qualcomm Linux layers and robotics layers.
This information lists the details of all robotics layers.

- QIR robotics layers

    - [meta-ros](https://docs.qualcomm.com/doc/80-70023-265/topic/robotics-layers.html#section-meta-ros)
    - [meta-qcom-robotics-sdk](https://docs.qualcomm.com/doc/80-70023-265/topic/robotics-layers.html#section-meta-qcom-robotics-sdk)
    - [meta-qcom-robotics](https://docs.qualcomm.com/doc/80-70023-265/topic/robotics-layers.html#section-meta-qcom-robotics)
    - [meta-qcom-robotics-distro](https://docs.qualcomm.com/doc/80-70023-265/topic/robotics-layers.html#section-meta-qcom-robotics-distro)
- Robotics extra layer

    [meta-qcom-robotics-extras](https://docs.qualcomm.com/doc/80-70023-265/topic/robotics-layers.html#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 meta data
layer `meta-qcom-robotics-sdk`:

    | BitBake class | Description |
    | --- | --- |
    | `psdk-package.bbclass` | <ul class="simple"><br><li><p>Provides a packaging task to pack QIR SDK artifacts into an archive. It's invoked by the <code class="docutils literal notranslate"><span class="pre">qirp-sdk</span></code> recipe.</p></li><br><li><p>The easy-to-install artifact archives are available at the <code class="docutils literal notranslate"><span class="pre">&lt;workspace&gt;/build-qcom-wayland/tmp-glibc/deploy/qirpsdk_artifacts</span></code> directory after the recipe build is complete.</p></li><br></ul> |
    | `psdk-base.bbclass` | <ul class="simple"><br><li><p>Provides base configurations to set the package name and disable the unused tasks for QIR SDK.</p></li><br><li><p>Invoked by the <code class="docutils literal notranslate"><span class="pre">qirp-sdk</span></code> recipe during the build.</p></li><br></ul> |
    | `psdk-extract.bbclass` | <ul class="simple"><br><li><p>Provides an extracting task to decompress function SDKs artifacts to source directory with various compression formats.</p></li><br><li><p>Invoked by the <code class="docutils literal notranslate"><span class="pre">qti-qim-product-sdk/qti-robotics</span></code> recipe during the build.</p></li><br></ul> |
    | `psdk-install.bbclass` | <ul class="simple"><br><li><p>Provides an installing task to split function SDKs artifacts with common format . the artifacts is available at &lt;workspace&gt;/build-qcom-wayland/tmp-glibc/deploy/artifacts/${PN}_artifacts/</p></li><br><li><p>Invoked by the <code class="docutils literal notranslate"><span class="pre">qti-qim-product-sdk/qti-qnn/qti-robotics</span></code> recipe during the build.</p></li><br></ul> |
    | `psdk-image.bbclass` | <ul class="simple"><br><li><p>Provides an qirpsdk generation task to collect each function sdk artifacts,trigger the do_populate_sdk task and collect the standard sdk for qirpsdk generation.</p></li><br><li><p>Invoked by the <code class="docutils literal notranslate"><span class="pre">qcom-robotics-full-image</span></code> recipe during the build.</p></li><br></ul> |
    | `psdk-pickup.bbclass` | <ul class="simple"><br><li><p>Provides a pickup task that selects files in function SDKs based on the configuration file (<code class="docutils literal notranslate"><span class="pre">config_content.json</span></code> by default), moves all selected files to the <code class="docutils literal notranslate"><span class="pre">/</span></code> directory, and finally integrates them into the QIR SDK package.</p></li><br><li><p>Invoked by the <code class="docutils literal notranslate"><span class="pre">qirp-sdk</span></code> recipe during the build.</p></li><br></ul> |
- **Distro configuration**

    | `layer.conf` | Configures the project layers with the following information:<br><br><br><br>> <br>> <br>> <ul class="simple"><br>> <li><p>Recipe file path</p></li><br>> <li><p>Supported Yocto version</p></li><br>> <li><p>Filename</p></li><br>> </ul> |
    | --- | --- |
- **Recipes**

    | Recipe | Description |
    | --- | --- |
    | `recipes` | Consists of QIR Sample recipes:<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` | Consists of function SDK recipes and QIR SDK recipe<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 classes**

The following table lists the BitBake classes defined in the metadata layer `meta-qcom-robotics-sdk`:

> 
> 
> | BitBake class | Description |
> | --- | --- |
> | `fsdk-package.bbclass` | <ul class="simple"><br><li><p>Provides a packaging task to pack the Robotics artifacts into an archive. It's invoked by the <code class="docutils literal notranslate"><span class="pre">packagegroup-qcom-robotics</span></code> recipe.</p></li><br><li><p>The easy-to-install artifact archives are available at the <code class="docutils literal notranslate"><span class="pre">&lt;workspace&gt;/build-qcom-wayland/tmp-glibc/deploy/roboticssdk_artifacts</span></code> directory after the recipe build is complete.</p></li><br></ul> |
> | `psdk-base.bbclass` | <ul class="simple"><br><li><p>Provides base configurations to set the package name and disables the unused tasks for the Robotics artifacts.</p></li><br><li><p>Invoked by <code class="docutils literal notranslate"><span class="pre">packagegroup-qcom-robotics</span></code> recipe during the build.</p></li><br></ul> |
> | `robotics-package.bbclass` | <ul class="simple"><br><li><p>Provides a task to move all robotics files to the <code class="docutils literal notranslate"><span class="pre">pkg_dest</span></code> directory. <code class="docutils literal notranslate"><span class="pre">pkg_dest</span></code> default with &quot;/&quot;</p></li><br><li><p>Provides base configurations to set the package name and package file.</p></li><br><li><p>Invoked by the robotics feature recipes during the build.</p></li><br></ul> |
> | `robotics-qprebuilt-package.bbclass` | <ul class="simple"><br><li><p>Provides a task to copy all ${WORKDIR}/usr file to ${D}.</p></li><br><li><p>Invoked by the robotics feature recipes during the build.</p></li><br></ul> |

- **Distro configuration**

    | `layer.conf` | Configures the project layers with the following information:<br><br><br><br>> <br>> <br>> <ul class="simple"><br>> <li><p>Recipe file path</p></li><br>> <li><p>Supported Yocto version</p></li><br>> </ul> |
    | --- | --- |
- **Recipes**

    | Recipe | Description |
    | --- | --- |
    | recipes | Consists of robotics feature recipes:<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 | Consists of scripts and packagegroup-qcom-robotics recipe:<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 | Consists of the recipe append files, which add extended configuration:<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 | Consists of qrb-ros recipes:<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 configuration**

    | `layer.conf` | Configures the project layers with the following information:<br><br><br><br>> <br>> <br>> <ul class="simple"><br>> <li><p>Recipe file path</p></li><br>> <li><p>Supported Yocto version</p></li><br>> </ul> |
    | --- | --- |
    | `qcom-robotics-ros2-jazzy.conf` | Configures the distro feature with the following information:<br><br><br><br>> <br>> <br>> <ul class="simple"><br>> <li><p>ROS2 jazzy distro enablement</p></li><br>> <li><p>Includes distro conf file of Qualcomm Linux</p></li><br>> </ul> |
    | `qcom-robotics-ros2-humble.conf` | Configures the distro feature with the following information:<br><br><br><br>> <br>> <br>> <ul class="simple"><br>> <li><p>ROS2 humble distro enablement</p></li><br>> <li><p>Includes distro conf file of Qualcomm Linux</p></li><br>> </ul> |
- **Image recipe**

    | Recipe | Description |
    | --- | --- |
    | `qcom-robotics-full-image` | Consists of these packages:<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> |
- **Package groups**

    | Package group | Description |
    | --- | --- |
    | `packagegroup-qcom-robotics` | Package group for upstream basic ROS2 packages, and packages needed for robotics:<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` | Upstream base ROS2 packages and some example programs.<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`

**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.<br>    - Consists of robotics feature recipes:<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: Dec 29, 2025

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