Wrapyfi: A Wrapper for Message-Oriented and Robotics Middleware

Wrapyfi is a Python framework that provides an interface for selecting and utilizing various supported middleware, including YARP, ROS, ROS 2, and ZeroMQ, for distributed systems and robotics applications. It supports common communication patterns like publish-subscribe and request-reply. The framework enables encoding and decoding of data types from widely used deep learning frameworks such as TensorFlow, JAX, MXNet, PyTorch, and PaddlePaddle. Wrapyfi also facilitates the serialization of device-specific tensors. It is particularly useful in scenarios requiring reliable data transfer and interoperability between different components in distributed environments. Comprehensive documentation and examples are available to assist users in implementing Wrapyfi for developing scalable and modular systems.