# Optional software components¶

The rc_visard offers optional software components that can be activated by purchasing a separate license.

The rc_visard’s optional software consists of the following components:

• SLAM (rc_slam)
performs simultaneous localization and mapping for correcting accumulated poses. The rc_visard’s covered trajectory is offered via the REST-API interface.
• IO and Projector Control (rc_iocontrol)
provides control over the general purpose inputs and outputs with special modes for controlling an external random dot projector.
• TagDetect (rc_april_tag_detect and rc_qr_code_detect)
allows the detection of AprilTags and QR codes, as well as the estimation of their poses.
• ItemPick (rc_itempick)
provides an out-of-the-box perception solution for robotic pick-and-place applications with suction grippers.