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.
1 maintainer
Metadata
1 maintainer
Release files for babyros 0.1.6
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Source distribution (sdist)
| File | Size | Uploaded | |
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| babyros-0.1.6.tar.gz | 20.7 kB | Details |
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| File | Interpreter | ABI | Platform | Reset |
|---|---|---|---|---|
| babyros-0.1.6-py3-none-any.whl | Python 3 | none | any | Details |
Total release size: 38.3 kB
Release files / babyros-0.1.6.tar.gz
| Download URL | babyros-0.1.6.tar.gz |
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| Size | 20.7 kB |
| Tags | Source |
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| Tags | Python 3 |
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| Uploaded via |
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