ROS 2 Interface Communication Verification
Verifies custom message, service, and action type communication interfaces within the QRB ROS ecosystem.
Prerequisites
Pre-installed Version
The interfaces bundled with QIR SDK can be inspected directly:
radxa@airbox$
source /opt/ros/jazzy/setup.bash
ros2 interface package qrb_ros_tensor_list_msgs
radxa@airbox$
ros2 interface show qrb_ros_tensor_list_msgs/msg/Tensor
Expected output: Tensor message definition (name, data_type, shape, data fields).
Build from Source
The source repository contains updated interface definitions with additional data types (uint16, float16, uint32, uint64, int32) and DMA-BUF zero-copy fields not present in the pre-installed version.
Step 1: Install Build Dependencies
radxa@airbox$
sudo apt install -y ros-dev-tools colcon
Step 2: Clone the Source
radxa@airbox$
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
Step 3: Initialize rosdep
Required for first-time use (skip if already done):
radxa@airbox$
sudo rosdep init
sudo rosdep update
Step 4: Install Dependencies and Build
radxa@airbox$
cd ~/qrb_ros_ws
source /opt/ros/jazzy/setup.bash
sudo rosdep install -i --from-path src --rosdistro jazzy -y
colcon build
Step 5: Verify
Open a new terminal and source the build artifacts:
radxa@airbox$
cd ~/qrb_ros_ws
source install/setup.bash
ros2 interface package qrb_ros_tensor_list_msgs
ros2 interface show qrb_ros_tensor_list_msgs/msg/Tensor
The source-built version outputs a more complete Tensor message definition, including 9 data_type values (0-8) and DMA-BUF related fields (dmabuf_fd, dmabuf_size, dmabuf_offset, dmabuf_ptr).