> ## Documentation Index
> Fetch the complete documentation index at: https://dragonwingdocs-staging.qualcomm.com/llms.txt
> Use this file to discover all available pages before exploring further.

# 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-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` | `<sensor_msgs.msg.Image>` | Subscribes to images from other nodes. | The image received for processing. |
| `/ocr_image_topic_name` | `<std_msgs.msg.String>` | Published by `ocr-rosnode`. | Publishes the OCR result. |

### 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\_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. |