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.