SpireMS

介绍

Spire消息系统，一个类似ROS的轻量化消息发布、订阅软件包，支持图像、雷达等传感器话题。

完美适配 Windows 和 Linux 系统，以及 C++、Python、Anaconda 的各类版本
一键部署安装，轻量化
可预先定义基础数据类型，也可以灵活适应新的类型
有中心模式，内置防崩溃机制，通信稳定可靠，没有订阅者不占用带宽
Linux 系统下默认开启内存共享，图像传输超低延迟

安装教程

Python安装

安装（命令行执行）

pip install spirems

引入（Python代码）

from spirems import Subscriber, Publisher, def_msg

C++安装（Ubuntu系统）

依赖项安装，如果已经安装cmake、opencv则可以忽略以下2行

sudo apt update
sudo apt -y install cmake libopencv-dev

源码安装

git clone https://gitee.com/jario-jin/spirems.git
cd spirems/spirems_cpp
mkdir build && cd build
cmake ..
sudo make install

在自己项目的CMakeLists.txt中引入SpireMS

find_package(SpireMS REQUIRED)
include_directories(${SpireMS_INCLUDE_DIRS})
target_link_libraries(YourAppName ${SpireMS_LIBS})

使用说明

Python使用说明

启动Core服务

smscore

发布话题

from spirems import Publisher, def_msg
import time
pub = Publisher('/topic/hello', 'std_msgs::String')
msg = def_msg('std_msgs::String')
while True:
    msg['data'] = 'hello world!'
    pub.publish(msg)
    time.sleep(1)

订阅话题

from spirems import Subscriber

def callback_f(msg):
    print(msg['data'])

sub = Subscriber('/topic/hello', 'std_msgs::String', callback_f)

C++使用说明

启动Core服务（命令行方式，也可以用Python中的启动方式，启动一次即可）

smscore

发布话题

#include <sms_core.h>

int main(int argc, char *argv[])
{
    sms::Publisher pub("/topic/hello", "std_msgs::String");
    nlohmann::json msg = sms::def_msg("std_msgs::String");
    
    while (true)
    {
        msg["data"] = "hello world!";
        pub.publish(msg);
        sleep(1);
    }
}

订阅话题

#include <sms_core.h>

void callback(nlohmann::json msg)
{
    std::cout << msg["data"] << std::endl;
}

int main(int argc, char *argv[])
{
    sms::Subscriber sub("/topic/hello", "std_msgs::String", callback);
    sub.join();
    return 0;
}

命令行控制

显示所有话题

sms list

打印话题

sms echo /topic/hello

打印话题频率

sms hz /topic/hello

打印参数服务器所有参数

smsparam list

在线更新参数

smsparam set param_key param_value

导出所有参数

smsparam export output.json

参与贡献

Fork 本仓库
新建 Feat_xxx 分支
提交代码
新建 Pull Request

Metadata

Release files for spirems 0.8.6

For a detailed explanation of source distributions (sdists) and built distributions (wheels), please see the package formats documentation.

Built distribution (wheel)

Table of built distributions (wheels) for spirems 0.8.6
File	Interpreter	ABI	Platform	Reset
spirems-0.8.6-py3-none-any.whl 1.6 MB Jun 2, 2026	Python 3	none	any	Details

Release files / spirems-0.8.6-py3-none-any.whl

Download URL	spirems-0.8.6-py3-none-any.whl
Size	1.6 MB
Tags	Python 3
SHA-256 checksum How to use checksums	`d97c1b17764b834eeb05c6b6ac478457138b8ae37e00d610562320322b89fdcd`
BLAKE2b-256 checksum How to use checksums	`47a7a1eda6595b45a3b427190236c6c63d62ae09f4bf0893996fa0dba4738148`
Upload date	Jun 2, 2026
Uploaded using Trusted Publishing? What is trusted publishing?	No
Uploaded via	`twine/6.2.0 CPython/3.13.10`