# QIR SDK API list This information lists all the APIs you can use on the Qualcomm Linux platforms. ## Platform APIs ### RPLIDAR-ROS2 | ROS topic | Message type | Published/Subscribed by | Description | | --- | --- | --- | --- | | `/scan` | `sensor_msgs::msg::LaserScan` | Published by `rplidar-ros2`. | The `/scan` topic publishes the laser scan data from the RPLIDAR. | ### QRB-ROS-imu | ROS topic | Message type | Published/Subscribed by | Description | | --- | --- | --- | --- | | `/imu` | `sensor_msgs::msg::Imu` | Published by `IMU`. | Publishes the `/imu` ROS topic. | ### QRB-ROS-system-monitor | ROS topic | Message type | Published/Subscribed by | Description | | --- | --- | --- | --- | | `/cpu` | `qrb_ros_system_monitor::CpuMonitor` | Published by `CpuMonitor`. | Publishes the CPU loading information. | | `/memory` | `qrb_ros_system_monitor::MemoryMonitor` | Published by `MemoryMonitor`. | Publishes the memory usage information. | | `/disk` | `qrb_ros_system_monitor::DiskMonitor` | Published by `DiskMonitor`. | Publishes the disk space information. | | `/swap` | `qrb_ros_system_monitor::SwapMonitor` | Published by `SwapMonitor`. | Publishes the swap space information. | | `/temperature` | `qrb_ros_system_monitor::TemperatureMonitor` | Published by `TemperatureMonitor`. | Publishes the CPU temperature. | | `/battery` | `qrb_ros_system_monitor::BatteryMonitor` | Published by `BatteryMonitor`. | Publishes the battery information. | | `/system_info_server` | `qrb_ros_system_monitor::SystemInfoServer` | Published by `SystemInfoServer`. | Publishes static system information, such as CPU count. | ### OCR\_service | ROS topic | Message type | Published/Subscribed by | Description | | --- | --- | --- | --- | | `/image_topic_name` | `` | Subscribes to images from other nodes. | The image received for processing. | | `/ocr_image_topic_name` | `` | Published by `ocr-rosnode`. | Publishes the OCR result. | ### QRB\_ROS\_color\_space\_converter | ROS topic | Message type | Published/Subscribed by | Description | | --- | --- | --- | --- | | `/image_raw` | `sensor_msgs::msg::Image` | Subscribes to images from other nodes. | The input NV12/RGB888 encoded image. | | `/image` | `sensor_msgs::msg::Image` | Published by `colorspace_convert_node`. | Publishes the converted NV12/RGB888 encoded image. | ### QRB\_ROS\_camera | ROS topic | Message type | Published/Subscribed by | Description | | --- | --- | --- | --- | | `/image` | `sensor_msgs::msg::Image` | Published by `camera`. | Publishes the NV12 encoded image. | | `/image_info` | `sensor_msgs::msg::CameraInfo` | Published by `camera`. | Publishes the camera information. | ### QRB\_ROS\_battery | ROS topic | Message type | Published/Subscribed by | Description | | --- | --- | --- | --- | | `/battery_status` | `sensor_msgs::msg::BatteryState` | Published by `Battery`. | Publishes the battery status. | ### Orbbec-camera | ROS topic | Message type | Published/Subscribed by | Description | | --- | --- | --- | --- | | `/camera/color/camera_info` | `sensor_msgs::msg::CameraInfo` | Published by `orbbec-camera`. | Publishes the color camera information. | | `/camera/color/image_raw` | `sensor_msgs::msg::Image` | Published by `orbbec-camera`. | Publishes the color image. | | `/camera/depth/camera_info` | `sensor_msgs::msg::CameraInfo` | Published by `orbbec-camera`. | Publishes the depth camera information. | | `/camera/depth/image_raw` | `sensor_msgs::msg::Image` | Published by `orbbec-camera`. | Publishes the depth image. | | `/camera/depth/points` | `PointCloud2` | Published by `orbbec-camera`. | Publishes the depth point cloud. | | `/camera/gyro_accel/sample` | `sensor_msgs::msg::Imu` | Published by `orbbec-camera`. | Publishes the gyroscope and accelerometer data. | ### QRB\_ROS\_audio\_service | ROS topic | Message type | Published/Subscribed by | Description | | --- | --- | --- | --- | | `/qrb_audiodata` | `qrb_ros_audio_common_msgs::msg::AudioData` | Published by `audio_service`. | Publishes the recorded real-time raw audio data, or allows subscribing to this node's raw data for playback. You can modify the topic name using the `--topic_name` parameter. Supports using separate topics for playback and recording operations. | | ROS service | Message type | Published/Subscribed by | Description | | --- | --- | --- | --- | | `/audio_server` | `qrb_ros_audio_service_msgs::srv::AudioRequest` | Published by `audio_service`. | Allows ROS applications to send service requests for audio playback and recording. | ### ROS-GST-Bridge Note `ros-gst-bridge` is a tool designed to facilitate seamless integration between Robot Operating System (ROS) and GStreamer. It supports efficient streaming and processing of multimedia data such as video and audio between ROS nodes and GStreamer pipelines. For detailed usage, see [ROS-GST-Bridge](https://docs.qualcomm.com/doc/80-70023-265/topic/qir_sdk_api_list.html#ros-gst-bridge). ### QRB\_ROS\_NN\_inference | ROS topic | Message type | Published/Subscribed by | Description | | --- | --- | --- | --- | | `/qrb_inference_input_tensor` | `qrb_ros_tensor_list_msgs::msg::TensorList` | Subscribed by `qrb_ros_nn_inference`. | Subscribes to the input tensor for model inference. | | `/qrb_inference_output_tensor` | `qrb_ros_tensor_list_msgs::msg::TensorList` | Published by `qrb_ros_nn_inference`. | Publishes the output tensor of model. | ### QRB\_ROS\_Benchmark Note For information about the `qrb_ros_benchmark` pipeline flow and the topics it uses, see [ros2_benchmark](https://github.com/NVIDIA-ISAAC-ROS/ros2_benchmark). ## AI sample API list Note The AI sample uses platform APIs and adds some new features to the platform APIs. Following is a detailed list of APIs. ### Hand detection | ROS topic | Message type | Published/Subscribed by | Description | | --- | --- | --- | --- | | `/image_raw` | `sensor_msgs.msg.Image` | Subscribes to images from other nodes. | The image received for processing. | | `/handlandmark_result` | `sensor_msgs.msg.Image` | Published by `qrb_ros_hand_detector`. | Publishes the image with hand landmarks overlaid on the original image. | ### Image classification | ROS topic | Message type | Published/Subscribed by | Description | | --- | --- | --- | --- | | `/image_raw` | `sensor_msgs.msg.Image` | Subscribes to images from other nodes. | The image received for processing. | | `/resnet101_output` | `sensor_msgs.msg.String` | Published by `qrb_ros_resnet101` | Publishes the image classification result. | ### Depth estimation | ROS topic | Message type | Published/Subscribed by | Description | | --- | --- | --- | --- | | `/image_raw` | `sensor_msgs.msg.Image` | Subscribes to images from other nodes. | The image received for processing. | | `/depth_map` | `sensor_msgs.msg.Image` | Published by `sample_depth_estimation`. | Publishes per-pixel depth values as a color map. | ### Face detection | ROS topic | Message type | Published/Subscribed by | Description | | --- | --- | --- | --- | | `/image_raw` | `sensor_msgs.msg.Image` | Subscribes to images from other nodes. | The image received for processing. | | `/mediaface_det_image` | `sensor_msgs.msg.Image` | Published by `qrb_ros_face_detector`. | Publishes the image with face landmarks overlaid on the original image. | ### HRNet pose estimation | ROS topic | Message type | Published/Subscribed by | Description | | --- | --- | --- | --- | | `/image_raw` | `sensor_msgs.msg.Image` | Subscribes to images from other nodes. | The image received for processing. | | `/pose_estimation_results` | `sensor_msgs.msg.Image` | Published by `hrnet_pose_estimation_node`. | Publishes the image with pose estimation results overlaid on the original image. | | `/pose_estimation_points` | `geometry_msgs.msg.PolygonStamped` | Published by `hrnet_pose_estimation_node`. | Raw keypoint coordinates in a structured message format. | Last Published: Dec 29, 2025 [Previous Topic Develop a pipeline application](https://docs.qualcomm.com/bundle/publicresource/80-70023-265/topics/develop_pipeline_application.md) [Next Topic Optional developer workflows](https://docs.qualcomm.com/bundle/publicresource/80-70023-265/topics/optional-workflows.md)