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qrb_ros_samples ๆ˜ฏไธ€ไธชๅ‚่€ƒ็คบไพ‹็›ฎๅฝ•๏ผŒๅฎƒๅฐ† QNN ๆŽจ็†ไปฅๅŠ๏ผˆๅœจ้€‚็”จๆ—ถ๏ผ‰้›ถๆ‹ท่ดไผ ่พ“่ฟžๆŽฅๅˆฐๅฏ็›ดๆŽฅ่ฟ่กŒ็š„ ROS 2 launch ๆ–‡ไปถไธญใ€‚่ฏฅไป“ๅบ“้‡‡็”จ BSDโ€‘3โ€‘Clause ่ฎธๅฏ่ฏใ€‚main ๅˆ†ๆ”ฏไธบๆดป่ทƒๅผ€ๅ‘ๅˆ†ๆ”ฏ๏ผ›็จณๅฎšๅ‘ๅธƒ่ฏท่ทŸ่ธช jazzy-rel ๅˆ†ๆ”ฏใ€‚
่ฟ™ไบ›ๆ˜ฏ่ตท็‚นๅ’Œๅ‚่€ƒโ€”โ€”ๅนถ้žไฝฟ็”จ Qualcomm ๆœบๅ™จไบบๅนณๅฐ็š„ๅ”ฏไธ€ๅ—ๆ”ฏๆŒๆ–นๅผใ€‚็›ธๅŒ็š„ๅŽŸ่ฏญ๏ผˆQNN delegateใ€qrb_ros_transport ไปฅๅŠๆฅ่‡ช Qualcomm AI Hub ็š„ๆจกๅž‹๏ผ‰ๅฏไปฅ็›ดๆŽฅไธŽๆ ‡ๅ‡† ROS 2 / ็คพๅŒบ่ฝฏไปถๅŒ…็ป„ๅˆใ€‚NPU ๅทฅไฝœๆต็จ‹ๅฐฑๆ˜ฏ่ฟ™็งไปŽ้›ถๅผ€ๅง‹ๆ–นๅผ็š„็คบไพ‹๏ผŒ้ขๅ‘็›ธๅŒ็š„ NPUใ€‚

AI ็คบไพ‹

่ง†่ง‰ๅ’Œ้Ÿณ้ข‘ๆตๆฐด็บฟโ€”โ€”ๆทฑๅบฆใ€ๅงฟๆ€ใ€ๅˆ†ๅ‰ฒใ€ๆฃ€ๆต‹ใ€่ฏญ้Ÿณ่ฏ†ๅˆซใ€‚ๆŽจ็†้€š่ฟ‡ QNN ๅœจ NPU ไธŠ่ฟ่กŒใ€‚

ๆœบๅ™จไบบ็คบไพ‹

AMR ่ฟๅŠจใ€2D ๆฟ€ๅ…‰้›ท่พพ SLAMใ€Nav2ใ€AprilTagใ€่ทŸ้š๏ผˆfollow-me๏ผ‰ใ€ๆŠ“ๅ–ๆ”พ็ฝฎใ€‚่ฎพๅค‡็ซฏๅ’Œ Gazebo ไปฟ็œŸๅ…ผๆœ‰ใ€‚

้˜…่ฏปๆ”ฏๆŒ็Ÿฉ้˜ต

ไธŠๆธธ README ๆฒกๆœ‰ไธบๅ…ถๆ”ฏๆŒๅˆ—ๅฎšไน‰ๅ›พไพ‹๏ผŒๅนถไธ”ๅ„็คบไพ‹็š„ README ๆœ‰ๆ—ถไธŽ้กถๅฑ‚่กจๆ ผไธไธ€่‡ดใ€‚ๆœฌ้กตๅฏนๆ•ฐๆฎ็š„่งฃ่ฏปๅฆ‚ไธ‹๏ผšๆญค็›ฎๅฝ•ไธญๅˆ—ๅ‡บ็š„ๆฏไธช็คบไพ‹้ƒฝๅฏไปฅๅœจ Qualcommยฎ IoT ๅนณๅฐ็š„ Ubuntu ้•œๅƒไธŠไปŽๆบ็ ๆž„ๅปบใ€‚ไป…่ƒฝ้€š่ฟ‡ Qualcomm Linux / QIRP SDK ๅทฅๅ…ท้“พ่Žทๅ–็š„็คบไพ‹ๅทฒ่ขซๆŽ’้™คใ€‚
็ฉบๅค้€‰ๆก† ๅนถไธ่กจ็คบโ€ไธๆ”ฏๆŒโ€โ€”โ€”ไป…่กจ็คบโ€ไธŠๆธธๆœช้ชŒ่ฏโ€ใ€‚ๅœจๆŸไธชๅฅ—ไปถไธŠๆŠ•ๅ…ฅๆ—ถ้—ดไฝฟ็”จๆŸ็คบไพ‹ไน‹ๅ‰๏ผŒ่ฏทๆŸฅ็œ‹่ฏฅ็คบไพ‹่‡ช่บซ็š„ README๏ผˆไปŽโ€็คบไพ‹โ€ๅˆ—้“พๆŽฅ๏ผ‰๏ผŒไปฅ่Žทๅ–ๆƒๅจ็š„ๆŒ‰ๅฅ—ไปถๆ”ฏๆŒๅˆ—่กจใ€‚ๅฝ“ๅ„็คบไพ‹็š„ README ไธŽๆญค็›ฎๅฝ•ไธไธ€่‡ดๆ—ถ๏ผŒ่ฏทไปฅๅ„็คบไพ‹็š„ README ไธบๅ‡†ใ€‚

AI ็คบไพ‹

ๅคงๅคšๆ•ฐ่ง†่ง‰็คบไพ‹ไปŽ qrb_ros_camera๏ผˆQualcomm CSI/GMSL๏ผ‰้‡‡้›†ใ€‚่ฆๆ”น็”จ USB ็ฝ‘็ปœๆ‘„ๅƒๅคด่ฟ่กŒ่ฟ™ไบ›็คบไพ‹๏ผŒ่ฏทๅฐ†ๆ‘„ๅƒๅคด่Š‚็‚นๆ›ฟๆขไธบ v4l2_cameraโ€”โ€”็ซฏๅˆฐ็ซฏ็คบไพ‹ๅ‚่ง NPU ๅทฅไฝœๆต็จ‹ใ€‚
ๅ„่กŒๆŒ‰ไธŠๆ‰‹้šพๆ˜“็จ‹ๅบฆๆŽ’ๅบโ€”โ€”ๆ‰€้œ€้ขๅค–็กฌไปถๆœ€ๅฐ‘็š„ๅœจๅ‰ใ€‚
ๆƒณๅŸบไบŽ่ฟ™ไบ›็คบไพ‹ๆ‰€ๅŒ…่ฃ…็š„็›ธๅŒๅŽŸ่ฏญไปŽ้›ถๆž„ๅปบๆŽจ็†ๆตๆฐด็บฟ๏ผŸ่ฏทๅ‚้˜… NPU ๅทฅไฝœๆต็จ‹๏ผŒๅ…ถไธญๆœ‰ไธ€ไธช็›ดๆŽฅไฝฟ็”จ QNN TFLite delegate ๆ‰‹ๅทฅๆž„ๅปบ็š„ๆทฑๅบฆไผฐ่ฎก็คบไพ‹ใ€‚

ๆœบๅ™จไบบ็คบไพ‹

ๅ„่กŒๆŒ‰ไธŠๆ‰‹้šพๆ˜“็จ‹ๅบฆๆŽ’ๅบโ€”โ€”ไปฟ็œŸๅœจๅ‰๏ผŒๅ…ถๆฌกๆ˜ฏๅŸบไบŽๆ‘„ๅƒๅคด็š„็คบไพ‹๏ผŒ็„ถๅŽๆ˜ฏ็‰นๅฎšไพ›ๅบ”ๅ•†็š„ๅค–่ฎพใ€‚

็ณป็ปŸ่ฆๆฑ‚

ๆ นๆฎไธŠๆธธ๏ผš้ขๅ‘ Qualcomm IoT ๅนณๅฐ็š„ Canonical Ubuntuใ€‚ๅ‚่งๅœจ Qualcomm IoT ๅนณๅฐไธŠๅฎ‰่ฃ… Ubuntu ๅ’Œๅฎ‰่ฃ… ROS Jazzyใ€‚ๅฏนไบŽ Qualcomm Linux ็›ฎๆ ‡๏ผŒ่ฏทๆ”น็”จ QIRP SDKใ€‚