babyros 0.1.2

BabyROS: baby version of ROS built on Zenoh

BabyROS

BabyROS is a mini version of ROS built on top of the Zenoh protocol. It provides a familiar pub/sub/client/server architecture for robotics and distributed systems without the heavy overhead of a full ROS installation.

Features

• Powered by Zenoh: Ultra-low latency and high-throughput communication.
• Minimalist: No complex middleware setup; just Python and Zenoh.
• Familiar API: Designed for developers transitioning from ROS/ROS2.

Getting Started

1. Clone the Repository

git clone https://github.com/telekinesis-ai/babyros

Change directory

cd babyros

2. Environment Setup (Recommended)

We recommend using Miniconda or Anaconda to manage your environment:

conda create -n babyros python=3.11

Activate your environment:

conda activate babyros

You can deactivate your environment:

conda deactivate babyros

3. Installation

Install the package in editable mode for development:

pip install -e .

(For Inter-Device Communication) Installation

Install the Zenoh router. Documentation available in: Zenoh Docs

Usage Example

To see BabyROS in action, you can run the provided example scripts.

Publisher

Open a terminal and run:

python examples/publisher_example.py

When testing is done, kill terminal with Ctrl+C.

Subscriber

In a second terminal (with the babyros environment active), run:

python examples/subscriber_example.py

When testing is done, kill terminal with Ctrl+C.

Open Issues

• Datatype information
• Safety checks

Zenoh Config Comparison Between Zenoh, BabyROS, and RMW Zenoh

Key	BabyROS	Zenoh	RMW Zenoh
adminspace.enabled	False	False	True
connect.endpoints	[]	[]	['tcp/localhost:7447']
connect.exit_on_failure	None	None	—
connect.exit_on_failure.client	—	—	True
connect.exit_on_failure.peer	—	—	False
connect.exit_on_failure.router	—	—	False
connect.retry	None	None	—
connect.retry.period_increase_factor	—	—	2.0
connect.retry.period_init_ms	—	—	1000
connect.retry.period_max_ms	—	—	4000
connect.timeout_ms	None	None	—
connect.timeout_ms.client	—	—	0
connect.timeout_ms.peer	—	—	-1
connect.timeout_ms.router	—	—	-1
listen.endpoints	—	—	['tcp/localhost:0']
listen.endpoints.peer	['tcp/[::]:0']	['tcp/[::]:0']	—
listen.endpoints.router	['tcp/[::]:7447']	['tcp/[::]:7447']	—
listen.exit_on_failure	None	None	True
listen.retry	None	None	—
listen.retry.period_increase_factor	—	—	2.0
listen.retry.period_init_ms	—	—	1000
listen.retry.period_max_ms	—	—	4000
listen.timeout_ms	None	None	0
mode	None	None	peer
open.return_conditions.connect_scouted	None	None	True
open.return_conditions.declares	None	None	True
queries_default_timeout	None	None	600000
routing.interests.timeout	None	None	10000
routing.peer.mode	None	None	peer_to_peer
routing.router.peers_failover_brokering	None	None	True
scouting.delay	None	None	500
scouting.gossip.autoconnect	None	None	—
scouting.gossip.autoconnect.peer	—	—	['router', 'peer']
scouting.gossip.autoconnect.router	—	—	[]
scouting.gossip.autoconnect_strategy	None	None	—
scouting.gossip.autoconnect_strategy.peer.to_peer	—	—	greater-zid
scouting.gossip.autoconnect_strategy.peer.to_router	—	—	always
scouting.gossip.enabled	None	None	True
scouting.gossip.multihop	None	None	False
scouting.gossip.target	None	None	—
scouting.gossip.target.peer	—	—	['router']
scouting.gossip.target.router	—	—	['router', 'peer']
scouting.multicast.address	None	None	224.0.0.224:7446
scouting.multicast.autoconnect	None	None	—
scouting.multicast.autoconnect.client	—	—	['router']
scouting.multicast.autoconnect.peer	—	—	['router', 'peer']
scouting.multicast.autoconnect.router	—	—	[]
scouting.multicast.autoconnect_strategy	None	None	—
scouting.multicast.autoconnect_strategy.peer.to_peer	—	—	greater-zid
scouting.multicast.autoconnect_strategy.peer.to_router	—	—	always
scouting.multicast.enabled	None	None	False
scouting.multicast.interface	None	None	auto
scouting.multicast.listen	None	None	True
scouting.multicast.ttl	None	None	1
scouting.timeout	None	None	3000
timestamping.drop_future_timestamp	None	None	False
timestamping.enabled	None	None	—
timestamping.enabled.client	—	—	True
timestamping.enabled.peer	—	—	True
timestamping.enabled.router	—	—	True
transport.link.tls.close_link_on_expiration	None	None	False
transport.link.tls.enable_mtls	None	None	False
transport.link.tls.verify_name_on_connect	None	None	True
transport.link.tx.keep_alive	4	4	2
transport.link.tx.lease	10000	10000	60000
transport.link.tx.queue.congestion_control.block.wait_before_close	5000000	5000000	60000000
transport.shared_memory.enabled	True	True	False
transport.shared_memory.transport_optimization.message_size_threshold	3072	3072	512
transport.shared_memory.transport_optimization.pool_size	16777216	16777216	50331648
transport.unicast.accept_pending	100	100	10000
transport.unicast.accept_timeout	10000	10000	60000
transport.unicast.max_sessions	1000	1000	10000
transport.unicast.open_timeout	10000	10000	60000

License

Distributed under the Apache-2.0 License. See LICENSE for more information.