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Meta-ROS

Zero-dependency ROS-like middleware for Python

This module acts as a middleware for communication between different processes using ZeroMQ. It consists of Publisher, Subscriber and MessageBroker classes to be able to publish and subscribe messages to a topic. The module contains different message types including string, int, float and more.

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Why Meta-ROS?

A middleware solution designed for process communication, incorporating Publisher, Subscriber, and MessageBroker classes. It handles various message types, including strings, integers, and floats, facilitating seamless data exchange. This module fosters a cohesive and scalable robotics environment, driving innovation and research by enabling efficient communication and robust integration across different systems.

Installation

To install the library, use pip:

pip install metaros

Usage

The library is composed of three main classes: Publisher, Subscriber and MessageBroker.

MessageBroker

The MessageBroker class is used to create a message broker that can be used by publishers and subscribers to communicate with each other.

from metaros import MessageBroker

broker = MessageBroker()

Publisher

The Publisher class is used to publish messages to a topic. The constructor takes two arguments: the topic name and the message type. The topic name is a string, while the message type is a Python class. The message type is used to serialize and deserialize messages.

from metaros import Publisher

pub = Publisher("topic_name", String)
pub.publish("Hello world!")

Subscriber

The Subscriber class is used to subscribe to a topic and receive messages. The constructor takes two arguments: the topic name and the message type. The topic name is a string, while the message type is a Python class. The message type is used to serialize and deserialize messages.

import time
from metaros import Subscriber

def callback(msg):
    print(msg)

sub = Subscriber("topic_name", String, callback)
while True:
    # Do something else
    time.sleep(1)

# Stop the subscriber
sub.stop()

Messages

The library comes with a few built-in messages that can be used out of the box. The following messages are available:

  • std_msgs.String
  • std_msgs.Int
  • std_msgs.Float
  • std_msgs.Bool
  • std_msgs.Header
  • geometry_msgs.Vector3
  • geometry_msgs.Vector3Stamped
  • geometry_msgs.Twist
  • geometry_msgs.Quaternion
  • geometry_msgs.Pose
  • geometry_msgs.PoseStamped
  • geometry_msgs.PoseWithCovariance
  • geometry_msgs.TwistWithCovariance
  • nav_msgs.Odometry
  • nav_msgs.Path
  • sensors_msgs.LaserScan
  • sensors_msgs.Image
  • More to come...