# Verify the basic communication of `qrb_ros_interfaces`

The `qrb_ros_interfaces` is a collection of ROS 2 interface packages designed to define and merge custom message, service, and action types. It's specifically adapted to robust communication within the QRB ROS ecosystem.

This collection serves as a centralized repository for all QRB ROS related communication interfaces, ensuring standardization and consistency across various QRB ROS nodes.

Each package within this collection provides specific interface definitions crucial for enabling seamless interoperability and efficient data exchange between components interacting with QRB hardware or software.

The following table lists the interface packages currently included in this collection:

| Interface package name | Status | Description | Interface type (Contains) |
| --- | --- | --- | --- |
| `qrb_ros_amr_msgs` | Active | QRB AMR ROS msg | message, service, action |
| `qrb_ros_audio_common_msgs` | Active | QRB ROS audio common messages | message, action |
| `qrb_ros_audio_service_msgs` | Active | QRB ROS audio service messages | message, service |
| `qrb_ros_navigation_msgs` | Active | QRB Navigation ROS messages | message, service |
| `qrb_ros_robot_base_msgs` | Active | QRB ROS robot base messages | message, service |
| `qrb_ros_sensor_service_msgs` | Deprecated | QRB ROS Sensor Service Interfaces | message, service |
| `qrb_ros_slam_msgs` | Active | Messages ROS Package for QRB SLAM Service call | message, service |
| `qrb_ros_system_monitor_msgs` | Active | System monitor interfaces | message, service |
| `qrb_ros_tensor_list_msgs` | Active | Messages for model inference | message |
| `qrb_ros_vision_msgs` | Active | Messages for computer vision pipelines | message |

## Prerequisites

You have set up the device, installed ROS2 Jazzy and QIR SDK on the device according to [Install the QIR SDK](https://docs.qualcomm.com/doc/80-90441-2/topic/2-install-the-qir-sdk.html#install-qir-sdk).

## Run out-of-the-box `qrb_ros_interfaces`

**Steps**

1. Install the `qrb_ros_interfaces` packages.

sudo apt install ros-jazzy-qrb-ros-tensor-list-msgs
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2. Use this package.

source /opt/ros/jazzy/setup.bash
        ros2 interface package qrb_ros_tensor_list_msgs
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![image10](data:image/png;base64,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)
3. You can echo scan in another terminal.

source /opt/ros/jazzy/setup.bash
        ros2 interface show qrb_ros_tensor_list_msgs/msg/Tensor
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![image11](data:image/png;base64,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)

## Build and run `qrb_ros_interfaces`

**Steps**

1. Install dependencies.

sudo apt install ros-dev-tools colcon
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2. Clone the repository to the device.

mkdir -p ~/qrb_ros_ws/src
        cd ~/qrb_ros_ws/src
        source /opt/ros/jazzy/setup.bash
        git clone https://github.com/qualcomm-qrb-ros/qrb_ros_interfaces.git
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3. Resolve dependencies.

source /opt/ros/jazzy/setup.sh
        cd ~/qrb_ros_ws
        sudo rosdep install -i --from-path src --rosdistro jazzy -y
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4. Build and run.

colcon build
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5. Open a new terminal, go to `qrb_ros_ws`, and source the setup files:

source install/setup.bash
        ros2 interface package qrb_ros_tensor_list_msgs
        ros2 interface show qrb_ros_tensor_list_msgs/msg/Tensor
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Last Published: Sep 07, 2026

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Test ROS message transport with qrb\_ros\_transport](https://docs.qualcomm.com/bundle/publicresource/80-90441-2/topics/test-ros-message-transport-with-qrb_ros_transport.md)