Computer Science > Robotics
arXiv:2302.09648 (cs)
[Submitted on 19 Feb 2023 (v1), last revised 19 Jan 2024 (this version, v5)]
Title:Wrapyfi: A Python Wrapper for Integrating Robots, Sensors, and Applications across Multiple Middleware
View a PDF of the paper titled Wrapyfi: A Python Wrapper for Integrating Robots, Sensors, and Applications across Multiple Middleware, by Fares Abawi and 3 other authors
View PDFHTML (experimental)Abstract:Message oriented and robotics middleware play an important role in facilitating robot control, abstracting complex functionality, and unifying communication patterns between sensors and devices. However, using multiple middleware frameworks presents a challenge in integrating different robots within a single system. To address this challenge, we present Wrapyfi, a Python wrapper supporting multiple message oriented and robotics middleware, including ZeroMQ, YARP, ROS, and ROS 2. Wrapyfi also provides plugins for exchanging deep learning framework data, without additional encoding or preprocessing steps. Using Wrapyfi eases the development of scripts that run on multiple machines, thereby enabling cross-platform communication and workload distribution. We finally present the three communication schemes that form the cornerstone of Wrapyfi's communication model, along with examples that demonstrate their applicability.
| Comments: | Accepted at HRI 2024 |
| Subjects: | Robotics (cs.RO); Distributed, Parallel, and Cluster Computing (cs.DC) |
| Cite as: | arXiv:2302.09648 [cs.RO] |
| (orarXiv:2302.09648v5 [cs.RO] for this version) | |
| https://doi.org/10.48550/arXiv.2302.09648 arXiv-issued DOI via DataCite | |
| Related DOI: | https://doi.org/10.1145/3610977.3637471 DOI(s) linking to related resources |
Submission history
From: Fares Abawi [view email][v1] Sun, 19 Feb 2023 18:31:42 UTC (5,327 KB)
[v2] Wed, 22 Feb 2023 11:59:00 UTC (5,328 KB)
[v3] Thu, 28 Sep 2023 08:44:34 UTC (139 KB)
[v4] Tue, 12 Dec 2023 12:56:57 UTC (4,218 KB)
[v5] Fri, 19 Jan 2024 13:53:41 UTC (5,460 KB)
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View a PDF of the paper titled Wrapyfi: A Python Wrapper for Integrating Robots, Sensors, and Applications across Multiple Middleware, by Fares Abawi and 3 other authors
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