# Platform sample applications

The QIR SDK provides the following platform sample applications.

- [Enable Orbbec Gemini 335L with `orbbec_camera`](https://docs.qualcomm.com/doc/80-90441-2/topic/enable-orbbec-gemini-335l-with-orbbec-camera.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.
- [Enable basic RPLIDAR handling with `rplidar-ros`](https://docs.qualcomm.com/doc/80-90441-2/topic/enable-basic-rplidar-handling-with-rplidar-ros2.html)
The rplidar-ros2 sample application provides basic device handling for the 2D laser scanner RPLIDAR A1/A2/A3/S1/S2/S3.
- [Publish system status with `qrb_ros_system_monitor`](https://docs.qualcomm.com/doc/80-90441-2/topic/publish-system-status-with-qrb-ros-system-monitor.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 space.
- [Run basic OCR with `ocr_service`](https://docs.qualcomm.com/doc/80-90441-2/topic/run-basic-ocr-with-ocr_service.html)
The `ocr_service` sample application enables a service that provides the Optical Character Recognition (OCR) function. It captures the image topic from the ROS system and publishes the result with `ocr_topic`.
- [Publish the battery state with `qrb_ros_battery`](https://docs.qualcomm.com/doc/80-90441-2/topic/publish-the-battery-state-with-qrb_ros_battery.html)
The `qrb_ros_battery` sample application is a package that publishes the battery state data from the system node.
- [Verify the basic communication of `qrb_ros_interfaces`](https://docs.qualcomm.com/doc/80-90441-2/topic/verify-the-basic-communication-of-qrb_ros_interfaces.html)
The `qrb_ros_interfaces` is a collection of ROS 2 interface packages designed to define and merge custom message, service, and action types. It's specifically adapted to robust communication within the QRB ROS ecosystem.
- [Test ROS message transport with `qrb_ros_transport`](https://docs.qualcomm.com/doc/80-90441-2/topic/test-ros-message-transport-with-qrb_ros_transport.html)
The `qrb_ros_transport` sample application implements zero-copy transport of ROS messages on Qualcomm robotics platforms.
- [Implement model inference with `qrb_ros_nn_inference`](https://docs.qualcomm.com/doc/80-90441-2/topic/implement-model-inference-with-qrb_ros_nn_inference.html)
`qrb_ros_nn_inference` is a ROS2 package for performing neural network model, providing AI-based perception for robotics applications.
- [Publish the IMU data with `qrb_ros_imu`](https://docs.qualcomm.com/doc/80-90441-2/topic/publish-the-imu-data-with-qrb_ros_imu.html)
The [qrb_ros_imu](https://github.com/qualcomm-qrb-ros/qrb_ros_imu) sample application publishes the inertial measurement unit (IMU) data collected from the ICM-42688 hardware on Qualcomm Robotics Platforms.
- [Run a zero-copy camera with `qrb_ros_camera`](https://docs.qualcomm.com/doc/80-90441-2/topic/run-a-zero-copy-camera-with-qrb_ros_camera.html)
The [qrb_ros_camera](https://github.com/qualcomm-qrb-ros/qrb_ros_camera) is a ROS package that publishes the images from Qualcomm **CSI** and **GMSL** cameras.
- [Convert between NV12 and RGB888 with `qrb_ros_colorspace_convert`](https://docs.qualcomm.com/doc/80-90441-2/topic/convert-between-nv12-and-rgb888-with-qrb_ros_colorspace_convert.html)
The `qrb_ros_colorspace_convert` sample application converts between NV12 and RGB888 formats.
- [Test core audio functionalities with `qrb_ros_audio_service`](https://docs.qualcomm.com/doc/80-90441-2/topic/test-core-audio-functionalities-with-qrb_ros_audio_service.html)
`qrb_ros_audio_service` is a ROS package that provides core audio functionalities. It serves as the primary interface for audio playback and recording within the ROS ecosystem.
- [Test video functionalities with `qrb_ros_video`](https://docs.qualcomm.com/doc/80-90441-2/topic/test-video-functionalities-with-qrb_ros_video.html)
`qrb_ros_video` is a ROS package that provides hardware-accelerated video processing for Qualcomm robotics platforms.
- [Evaluate ROS component performance with `qrb_ros_benchmark`](https://docs.qualcomm.com/doc/80-90441-2/topic/evaluate-ros-component-performance-with-qrb_ros_benchmark.html)
`qrb_ros_benchmark` is a benchmarking tool designed for evaluating the performance of ROS components on Qualcomm robotics platforms. It provides reusable components for benchmarking various message types and ROS nodes, with a focus on zero-copy transport mechanisms.

Last Published: Sep 07, 2026

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