zrm 1.0.0

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ZRM (Zenoh ROS-like Middleware)

A minimal, single-file communication middleware built on Zenoh, providing a clean and simple API inspired by ROS2 patterns.

Features

• Minimalist: Single-file implementation
• Type-safe: Protobuf-based serialization with runtime type checking
• Ergonomic: Pythonic API with sensible defaults

Installation

# Install from PyPI
pip install zrm

For development:

# Clone the repository and install dependencies
git clone https://github.com/yourusername/zrm.git
cd zrm
uv sync

Development

Linting

Run linting and formatting checks using pre-commit:

uv run pre-commit run -a

This runs all configured linters and formatters on all files in the repository.

Testing

Run the test suite with pytest:

uv run pytest tests/ -v

Quick Start

Publisher/Subscriber

from zrm import Node
from zrm.msgs import geometry_pb2

# Create a node
node = Node("my_node")

# Create publisher and subscriber via node factory methods
pub = node.create_publisher("robot/pose", geometry_pb2.Pose2D)
sub = node.create_subscriber("robot/pose", geometry_pb2.Pose2D)

# Publish a message
pose = geometry_pb2.Pose2D(x=1.0, y=2.0, theta=0.5)
pub.publish(pose)

# Get latest message
current_pose = sub.latest()
if current_pose:
    print(f"Position: x={current_pose.x}, y={current_pose.y}")

# Clean up
pub.close()
sub.close()
node.close()

Subscriber with Callback

def handle_pose(pose):
    print(f"Received: x={pose.x}, y={pose.y}")

node = Node("listener_node")
sub = node.create_subscriber(
    topic="robot/pose",
    msg_type=geometry_pb2.Pose2D,
    callback=handle_pose,
)

Service Server/Client

Services use namespaced Request/Response messages for better organization:

from zrm import Node
from zrm.srvs import examples_pb2

# Define service handler
def add_callback(req):
    return examples_pb2.AddTwoInts.Response(sum=req.a + req.b)

# Create node
node = Node("service_node")

# Create service server via node factory method
server = node.create_service(
    service="add_two_ints",
    service_type=examples_pb2.AddTwoInts,
    callback=add_callback,
)

# Create service client via node factory method
client = node.create_client(
    service="add_two_ints",
    service_type=examples_pb2.AddTwoInts,
)

# Call service
request = examples_pb2.AddTwoInts.Request(a=5, b=3)
response = client.call(request)
print(f"Sum: {response.sum}")  # Output: 8

# Clean up
client.close()
server.close()
node.close()

Service Definition Pattern:

// Services must have nested Request and Response messages
message AddTwoInts {
  message Request {
    int32 a = 1;
    int32 b = 2;
  }

  message Response {
    int32 sum = 1;
  }
}

Message Organization

ZRM uses a convention-based message organization:

Directory Structure

proto/
├── msgs/              # Message definitions
│   ├── geometry.proto
│   ├── sensor.proto
│   └── header.proto
└── srvs/              # Service definitions
    ├── std.proto
    └── examples.proto
src/zrm/
├── msgs/                  # Generated message modules
│   ├── geometry_pb2.py
│   ├── sensor_pb2.py
│   └── header_pb2.py
└── srvs/                  # Generated service modules
    ├── std_pb2.py
    └── examples_pb2.py

Generating Python Code

# Generate message modules
../protoc-33.0-linux-x86_64/bin/protoc --pyi_out=src --python_out=src --proto_path=zrm/msgs=proto/msgs/ $(fd -e proto . proto/msgs/)

# Generate service modules
../protoc-33.0-linux-x86_64/bin/protoc --pyi_out=src --python_out=src --proto_path=zrm/srvs=proto/srvs/ $(fd -e proto . proto/srvs/)

Standard Messages

Messages (zrm.msgs):

• geometry: Point, Vector3, Quaternion, Pose, Pose2D, Twist, PoseStamped
• sensor: Image, LaserScan, PointCloud2
• header: Header

Services (zrm.srvs):

• std: Trigger

CLI Tools

ZRM provides command-line tools for inspecting and interacting with the network:

Topic Commands

# List all topics and their publishers/subscribers
zrm-topic list

# Echo messages from a topic (auto-discovers type)
zrm-topic echo /robot/pose

# Echo with explicit type
zrm-topic echo /robot/pose -t zrm/msgs/geometry/Pose2D

# Publish to a topic
zrm-topic pub /robot/pose "x: 1.0 y: 2.0 theta: 0.5" -t zrm/msgs/geometry/Pose2D -r 10

# Measure topic frequency
zrm-topic hz /robot/pose

Node Commands

# List all nodes in the network
zrm-node list

Service Commands

# List all services in the network
zrm-service list

# Call a service (auto-discovers type)
zrm-service call add_two_ints 'a: 1 b: 2'

# Call with explicit type
zrm-service call add_two_ints 'a: 1 b: 2' -t zrm/srvs/examples/AddTwoInts

Examples

See examples/ directory for complete working examples:

• talker.py / listener.py: Basic publisher/subscriber pattern
• service_server.py / service_client.py: Service request/response pattern
• Graph discovery and introspection

Acknowledgements

• The Graph class is inspired by ros-z
• Built on Eclipse Zenoh for efficient pub/sub and query/reply patterns