Abstract
Message oriented and robotics middleware play an important role in facilitating robot control, abstracting complex functionality, and unifying communication patterns between sensors and devices. However, using multiple middleware frameworks presents a challenge in integrating diferent robots within a single system. To address this challenge, we present Wrapyf, a Python wrapper supporting multiple message oriented and robotics middleware, including ZeroMQ, YARP, ROS, and ROS 2. Wrapyf also provides plugins for exchanging deep learning framework data, without additional encoding or preprocessing steps. Using Wrapyf eases the development of scripts that run on multiple machines, thereby enabling cross-platform communication and workload distribution. We fnally present the three communication schemes that form the cornerstone of Wrapyf's communication model, along with examples that demonstrate their applicability.