Installing ROS

The QNX Platform for ADAS provides packages in the QNX Software Center that you may need if you're using ROS.

Installing ROS Desktop software

You require the ROS desktop software so that you can:

use a master node (that's not on your target) to receive data that's published from a node on your target
use a node on your host machine to receive data from a master node that's on your target
run the tools to visualize the data sent from the target

Install the ROS desktop software on the host machine where your master node will reside. This host machine does not necessarily have to be your development host.

For instructions on how to install the ROS Desktop software, see http://wiki.ros.org/kinetic/Installation.

Note: We recommend that you install ROS Kinetic Kame because that's the version that runs on the targets. Select the version of ROS Kinetic Kame that's compatible with your host platform (e.g., Ubuntu 16.04 LTS).

Installing ROS QNX Software Center packages

If you're using ROS, you must install have the QNX Platform for ADAS 2.0 - Robot OS and Publisher package installed, which is provided as part of a Typical Configuration installation.

Using ROS sensor publisher node with a reference image

If you are using a provided reference image with the QNX Platform for ADAS 2.0 - Robot OS and Publisher package you can have the Robot OS Examples Source Code available ($QNX_BASE/source/adas-ros-examples-version.zip). You can extract extract the contents of ZIP file and run the keypoint.py script, which is is located at extraction_directory/ source_package_adas_ros/apps/sensor/rospy_camera_example.

The keypoint.py script can be run on a Linux host machine to visualize camera data that's sent from the target to where your master node resides. For Linux and other platforms, you can use the rviz visualization tool that's included with the ROS desktop software installation. For more information, see http://wiki.ros.org/rviz.

Using ROS sensor publisher node with a customized image

If you're building your own target image, but using the same sensor publisher node that's available in you reference image, then you must have the QNX Platform for ADAS 2.0 - Robot OS and Publisher and QNX Platform for ADAS 2.0 - ASRock Beebox Support packages installed. These packages provide the binaries and libraries that you need to include when you generate your target image.

For more information on how to generate your own target image, see the Working with Target Images guide.

Building and using the ROS sensor publisher node

If you're customizing the ROS sensor publisher node that's available as an example with the QNX Platform for ADAS, then you must have the QNX Platform for ADAS 2.0 - Robot OS and Publisher and QNX Platform for ADAS 2.0 - Sensor packages installed.