Wrapyfi: A Python Wrapper for Integrating Robots, Sensors, and Applications across Multiple Middleware
IEEE/ACM International Conference on Human-Robot Interaction(2023)
摘要
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.
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