Wrapyfi Documentation

Wrapyfi is multi-middleware Python wrapper supporting ROS, ROS 2, YARP, ZeroMQ, Websocket, Zenoh, and MQTT.

Overview:

• Attribution
• Getting Started
  • Compatibility
  • Installation
  • Usage
• Supported Formats
  • Serializers
  • Data Structures
  • Image
  • Sound
• User Guide
  • Argument Passing
  • Closing and Deleting Classes
• Communication Patterns
  • Publishers and Listeners|Subscribers (PUB/SUB)
  • Servers and Clients (REQ/REP)
  • Publisher- and Listener-specific Arguments
• Communication Schemes
  • Mirroring
  • Forwarding
  • Channeling
• Configuration
  • Communication Modes
  • Activating Communication Modes
  • Configuration Files
• Environment Variables
• Middleware
  • Natively Supported Middleware
• Plugins
  • Plugin Example
  • Data Structure Types
  • Device Mapping for Tensors
  • Serialization

Wrapyfi Extensions:

• Compiling ROS 2 interfaces
  • Prerequisites
  • Compiling
• Compiling ROS interfaces
  • Prerequisites
  • Compiling
• YARP + iCub Setup and Instructions
  • Installing YARP
  • Installing iCub
  • Running the Interface (in Simulation)
  • Facial Expressions in Simulation
  • Running YARP on multiple machines

Examples:

• Basic Examples
  • Hello World
• Communication Schemes
  • Mirroring
  • Forwarding
  • Channeling
• Communication Patterns
  • REQ/REP - Request and Reply
  • PUB/SUB - Publish and Listen
  • PUB/SUB - Transceive and Reeimit
• Custom Messages
  • ROS Message
  • ROS Parameter
  • ROS2 Message
• Plugins (Encoders)
  • Astropy
  • Pint
  • Pillow
  • DASK
  • NumPy and pandas
  • PyArrow
  • xarray
  • CuPy
  • Zarr
  • JAX
  • Trax
  • MXNet
  • PaddlePaddle
  • PyTorch
  • TensorFlow
• Robots
  • iCub Head
• Sensors
  • Camera and microphone
• Websockets
  • Websocket Publishing Client
  • Websocket Listening Client

Tutorials:

• Robotics
  • Multiple Robot Control using the Mirroring and Forwarding Schemes
  • Switching between Sensors using the Mirroring and Channeling Schemes
• Neural Networks
  • Horizontal and Vertical Layer Sharding

Evaluation:

• Latency: Plugin Encoding and Decoding
  • Running the Benchmarks

API Documentation:

• wrapyfi
  • wrapyfi package
• wrapyfi package
  • Subpackages
  • Module contents
• wrapyfi.clients package
  • Submodules
  • wrapyfi.clients.ros module
  • wrapyfi.clients.ros2 module
  • wrapyfi.clients.yarp module
  • wrapyfi.clients.zeromq module
  • Module contents
• wrapyfi.config package
  • Submodules
  • wrapyfi.config.manager module
  • Module contents
• wrapyfi.connect package
  • Submodules
  • wrapyfi.connect.clients module
  • wrapyfi.connect.listeners module
  • wrapyfi.connect.publishers module
  • wrapyfi.connect.servers module
  • wrapyfi.connect.wrapper module
  • Module contents
• wrapyfi.listeners package
  • Submodules
  • wrapyfi.listeners.mqtt module
  • wrapyfi.listeners.ros module
  • wrapyfi.listeners.ros2 module
  • wrapyfi.listeners.websocket module
  • wrapyfi.listeners.yarp module
  • wrapyfi.listeners.zenoh module
  • wrapyfi.listeners.zeromq module
  • Module contents
• wrapyfi.middlewares package
  • Submodules
  • wrapyfi.middlewares.mqtt module
  • wrapyfi.middlewares.ros module
  • wrapyfi.middlewares.ros2 module
  • wrapyfi.middlewares.websocket module
  • wrapyfi.middlewares.yarp module
  • wrapyfi.middlewares.zenoh module
  • wrapyfi.middlewares.zeromq module
  • Module contents
• wrapyfi.plugins package
  • Submodules
  • wrapyfi.plugins.cupy_array module
  • wrapyfi.plugins.dask_data module
  • wrapyfi.plugins.jax_tensor module
  • wrapyfi.plugins.mxnet_tensor module
  • wrapyfi.plugins.paddle_tensor module
  • wrapyfi.plugins.pandas_data module
  • wrapyfi.plugins.pillow_image module
  • wrapyfi.plugins.pint_quantities module
  • wrapyfi.plugins.pyarrow_array module
  • wrapyfi.plugins.pytorch_tensor module
  • wrapyfi.plugins.tensorflow_tensor module
  • wrapyfi.plugins.trax_array module
  • wrapyfi.plugins.xarray_data module
  • wrapyfi.plugins.zarr_array module
  • Module contents
• wrapyfi.publishers package
  • Submodules
  • wrapyfi.publishers.mqtt module
  • wrapyfi.publishers.ros module
  • wrapyfi.publishers.ros2 module
  • wrapyfi.publishers.websocket module
  • wrapyfi.publishers.yarp module
  • wrapyfi.publishers.zenoh module
  • wrapyfi.publishers.zeromq module
  • Module contents
• wrapyfi.servers package
  • Submodules
  • wrapyfi.servers.ros module
  • wrapyfi.servers.ros2 module
  • wrapyfi.servers.yarp module
  • wrapyfi.servers.zeromq module
  • Module contents
• wrapyfi.standalone package
  • Submodules
  • wrapyfi.standalone.zeromq_param_server module
  • wrapyfi.standalone.zeromq_proxy_broker module
  • wrapyfi.standalone.zeromq_pubsub_topic_monitor module
  • Module contents
• wrapyfi.tests package
  • Subpackages
  • Submodules
  • wrapyfi.tests.test_middleware module
  • wrapyfi.tests.test_wrapper module
  • Module contents
• wrapyfi.tests.tools package
  • Submodules
  • wrapyfi.tests.tools.benchmarking_native_object module
  • wrapyfi.tests.tools.class_test module
  • Module contents
• wrapyfi.utils package
  • Submodules
  • wrapyfi.utils.core_utils module
  • wrapyfi.utils.image_encoders module
  • wrapyfi.utils.serialization_encoders module
  • Module contents