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LIBQRC

libqrc is a library to communicate between APPs and motor control board.

Overview

Libqrc used to communicate with Motor control board .

Libqrc, which is a dynamic library, is base on tinyframe protocol.

Build

Currently, we only support use QCLINUX to build

  1. Setup environments follow this document 's Set up the cross-compile environment. part

  2. Create ros_ws directory in <qirp_decompressed_workspace>/qirp-sdk/

  3. Clone this repository under <qirp_decompressed_workspace>/qirp-sdk/ros_ws

    git clone https://github.com/quic-qrb-ros/robot_base_qrc.git

  4. Build this project

    export AMENT_PREFIX_PATH="${OECORE_TARGET_SYSROOT}/usr;${OECORE_NATIVE_SYSROOT}/usr"
export PYTHONPATH=${PYTHONPATH}:${OECORE_TARGET_SYSROOT}/usr/lib/python3.10/site-packages

colcon build --merge-install --cmake-args \
  -DPython3_ROOT_DIR=${OECORE_TARGET_SYSROOT}/usr \
  -DPython3_NumPy_INCLUDE_DIR=${OECORE_TARGET_SYSROOT}/usr/lib/python3.10/site-packages/numpy/core/include \
  -DPYTHON_SOABI=cpython-310-aarch64-linux-gnu -DCMAKE_STAGING_PREFIX=$(pwd)/install \
  -DCMAKE_PREFIX_PATH=$(pwd)/install/share \
  -DBUILD_TESTING=OFF

  5. Push to the device & Install

    cd `<qirp_decompressed_workspace>/qirp-sdk/ros_ws/install`
tar czvf libqrc.tar.gz lib share
scp libqrc.tar.gz root@[ip-addr]:/opt/
ssh root@[ip-addr]
(ssh) tar -zxf /opt/libqrc.tar.gz -C /opt/qcom/qirp-sdk/usr/

Contributions

Thanks for your interest in contributing to libqrc! Please read our Contributions Page for more information on contributing features or bug fixes. We look forward to your participation!

License

Libqrc is licensed under the BSD-3-clause "New" or "Revised" License.

Check out the LICENSE for more details.