# Open-source samples

Open-source sample applications are available to all users of QIRP SDK.

- [Nav2-bringup](https://docs.qualcomm.com/doc/80-70017-265/topic/nav2-bringup_5_2_1.html)
The nav2-bringup ROS sample enables the ROS2 navigation framework and system. It provides perception, planning, control, localization, visualization, and much more to build highly reliable autonomous systems.
- [Librealsense2](https://docs.qualcomm.com/doc/80-70017-265/topic/librealsense2_5_2_2.html)
Librealsense2 and realsense2-camera are used to make RealSense^™^ camera D455 work properly in RGB or depth mode. This application can generate the mono and depth information by topics.
- [Rplidar-ros2](https://docs.qualcomm.com/doc/80-70017-265/topic/rplidar-ros2_5_2_3.html)
The rplidar-ros2 sample provides basic device handling for the 2D laser scanner RPLIDAR A1/A2/A3/S1/S2/S3.
- [QRB-ROS-IMU](https://docs.qualcomm.com/doc/80-70017-265/topic/qrb-ros-imu_5_2_4.html)
The QRB-ROS-IMU sample creates the `/imu` topic to publish the inertial measurement unit (IMU) data.
- [QRB-ROS-CAMERA](https://docs.qualcomm.com/doc/80-70017-265/topic/qrb-ros-camera_5_2_5.html)
QRB-ROS-CAMERA implements a camera ROS2 node to enable zero-copy performance when data is coming out of the camera-server. This sample greatly reduces the latency between ROS nodes.
- [QRB-ROS-SYSTEM-MONITOR](https://docs.qualcomm.com/doc/80-70017-265/topic/qrb-ros-system-monitor_5_2_6.html)
QRB-ROS-SYSTEM-MONITOR contains various ROS nodes to publish system status information, such as CPU loading, memory utilization, and disk spaces.
- [OCR-service](https://docs.qualcomm.com/doc/80-70017-265/topic/ocr-service_5_2_7.html)
The `ocr-service` sample enables a service that provides the Optical Character Recognition (OCR) function.

Last Published: Dec 30, 2024

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