# Open-source samples

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

- [Rplidar-ros2](https://docs.qualcomm.com/doc/80-70018-265/topic/rplidar-ros2_5_2_3.html)
The `rplidar-ros2` sample application provides basic device handling for the 2D laser scanner RPLIDAR A1/A2/A3/S1/S2/S3.
- [Qrb-ros-imu](https://docs.qualcomm.com/doc/80-70018-265/topic/qrb-ros-imu_5_2_4.html)
The `Qrb-ros-imu` sample application creates the `/imu` topic to publish the inertial measurement unit (IMU) data.
- [Qrb-ros-system-monitor](https://docs.qualcomm.com/doc/80-70018-265/topic/qrb-ros-system-monitor_5_2_6.html)
The `Qrb-ros-system-monitor` sample application has various ROS nodes that publish system status information, such as CPU loading, memory usage, and disk spaces.
- [Ocr-service](https://docs.qualcomm.com/doc/80-70018-265/topic/ocr-service_5_2_7.html)
The `ocr-service` sample application enables a service that provides the Optical Character Recognition (OCR) function.
- [Orbbec-camera](https://docs.qualcomm.com/doc/80-70018-265/topic/orbbec-camera_5_2_8.html)
The `Orbbec-camera` sample application enables the Orbbec Gemini camera 335L to work in RGB or depth mode. This application generates the RGB and depth information by topics.
- [Qrb-ros-color-space-convert](https://docs.qualcomm.com/doc/80-70018-265/topic/qrb-ros-color-space-convert_5_2_9.html)
The `Qrb-ros-color-space-convert` sample application converts between NV12 and RGB888 formats.

Last Published: Apr 29, 2025