# Detect hands with `sample_hand_detection` `sample_hand_detection` uses the Python-based hand recognition ROS node to detect hand and hand movement. It uses [Qualcomm AI Engine Direct SDK (QNN)](https://www.qualcomm.com/developer/software/neural-processing-sdk-for-ai) for model inference. The model is sourced from the MediaPipe Hand Landmark Detector, which is a machine learning pipeline that predicts bounding boxes and pose skeletons of hands in an image. This sample application allows you to input an image named `input_image.jpg`, and then it publishes the result as ROS topic `handlandmark_result`. Note For more information, see the [sample_hand_detection](https://github.com/qualcomm-qrb-ros/qrb_ros_samples/tree/main/ai_vision/sample_hand_detection) GitHub repository. 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) ## `sample_hand_detection` pipeline flow The figure shows the pipeline flow for `sample_hand_detection`. [
image publisher
ROS node
qrb_ros_camera
qrb_ros_hand_detector
ROS node
(image raw process)
qrb_ros_hand_detector
ROS node
(landmark result process)
qrb_ros_hand_detector
ROS node
(palm result process)
qrb_ros_nn_inference
ROS node
(palm detection)
qrb_ros_nn_inference
ROS node
(landmark detection)
/palm_detector_input_tensor
/palm_detector_output_tensor
/landmark_detector_input_tensor
/landmark_detector_output_tensor
or
/image_raw
Image raw data provider
/handlandmark_result
ROS node
topic
](E:\Builds\139479\Source\qir-sdk-ug-for-ubuntu\_build\html\_images\GA1.6-hand-detection.svg) **`sample_hand_detection` pipeline** ## ROS nodes used in the `sample_hand_detection` pipeline | ROS node | Description | | --- | --- | | `qrb_ros_hand_detector` | The `qrb_ros_hand_detector` node is a python-based ROS Jazzy package that achieves image classification. It uses the QNN SDK for model inference. This ROS node subscribes to the image topic and publishes the classification result topic after the pre-post process. | | `image_publisher` | `image_publisher` is a ROS Jazzy package. It publishes the image ROS topic with a local path. For more information, see [image_publisher](https://github.com/ros-perception/image_pipeline). | ## ROS topics used in the `sample_hand_detection` pipeline | ROS topic | Type | Published by | | --- | --- | --- | | `/handlandmark_result` | `sensor_msgs.msg.Image` | `qrb_ros_hand_detector` | | `/image_raw` | `sensor_msgs.msg.Image` | `image_publisher` | ## Prerequisites You have set up the device, installed ROS2 Jazzy and QIR SDK on the device according to [Install the QIR SDK](https://docs.qualcomm.com/doc/80-90441-2/topic/2-install-the-qir-sdk.html#install-qir-sdk). ## Run out-of-the-box `sample_hand_detection` **Steps** 1. Create necessary directories for running the sample application. sudo mkdir -p /opt/ros/jazzy/share/sample_hand_detection/output_MediaPipeHandDetector/ sudo chmod 777 /opt/ros/jazzy/share/sample_hand_detection/output_MediaPipeHandDetector/ sudo mkdir -p /opt/ros/jazzy/share/sample_hand_detection/output_MediaPipeHandLandmarkDetector sudo chmod 777 /opt/ros/jazzy/share/sample_hand_detection/output_MediaPipeHandLandmarkDetector sudo chmod 777 -R /opt/ros/jazzy/share/sample_hand_detection/ Copy to clipboard 2. On the development kit, run the following commands: export ROS_DOMAIN_ID=123 source /opt/ros/jazzy/setup.bash ros2 launch sample_hand_detection launch_with_image_publisher.py Copy to clipboard 3. On the host, run the following commands: 1. Start `rqt`. # YOUR_HOST_IP is the IP address of the Host where you want to view the sample output. export DISPLAY=YOUR_HOST_IP:0 export ROS_DOMAIN_ID=123 rqt Copy to clipboard 2. Select the following buttons in sequence: Plugins --> Visualization --> Image View Copy to clipboard 3. Select `handlandmark_result` to see the results. Last Published: Sep 07, 2026 [Previous Topic AI sample applications](https://docs.qualcomm.com/bundle/publicresource/80-90441-2/topics/ai-sample-applications.md) [Next Topic Estimate image depth values with sample\_depth\_estimation](https://docs.qualcomm.com/bundle/publicresource/80-90441-2/topics/estimate-image-depth-values-with-sample_depth_estimation.md)