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Website | Python API | Rust API | Guide | Discord

Highlights

• 🚀 dora-rs is a framework to run realtime multi-AI and multi-hardware applications.
• 🦀 dora-rs internals are 100% Rust making it extremely fast compared to alternative such as being ⚡️ 10-17x faster than ros2.
• ❇️ Includes a large set of pre-packaged nodes for fast prototyping which simplifies integration of hardware, algorithms, and AI models.

Latency benchmark with Python API for both framework, sending 40M of random bytes.

Latest News 🎉

Support Matrix

• ⭐ = Recommended
• ✅ = First Class Support
• 🆗 = Best Effort Support
• 📐 = Experimental and looking for contributions
• 🛠️ = Unsupported but hoped for through contributions

Everything is open for contributions 🙋

Node Hub

The node hub is available in the dora-rs/dora-hub repository.

Examples

Type	Title	Description	Last Commit
Vision	YOLO	Use YOLO to detect object within image.
ROS2	C++ ROS2 Example	Example using C++ ROS2
ROS2	Rust ROS2 Example	Example using Rust ROS2
ROS2	Python ROS2 Example	Example using Python ROS2
Benchmark	GPU Benchmark	GPU Benchmark of dora-rs
Benchmark	CPU Benchmark	CPU Benchmark of dora-rs
Tutorial	Rust Example	Example using Rust
Tutorial	Python Example	Example using Python
Tutorial	CMake Example	Example using CMake
Tutorial	C Example	Example with C node
Tutorial	CUDA Example	Example using CUDA Zero Copy
Tutorial	C++ Example	Example with C++ node
Tutorial	Python Dataflow Builder Examples	Examples using the new Pythonic API.

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Getting Started

Installation

pip install dora-rs-cli

cargo install dora-cli

curl --proto '=https' --tlsv1.2 -LsSf https://github.com/dora-rs/dora/releases/latest/download/dora-cli-installer.sh | sh

powershell -ExecutionPolicy ByPass -c "irm https://github.com/dora-rs/dora/releases/latest/download/dora-cli-installer.ps1 | iex"

git clone https://github.com/dora-rs/dora.git
cd dora
cargo build --release -p dora-cli
PATH=$PATH:$(pwd)/target/release

Run

• Run the yolo python example:

## Create a virtual environment
uv venv --seed -p 3.11

## Install nodes dependencies of a remote graph
dora build https://raw.githubusercontent.com/dora-rs/dora/refs/heads/main/examples/python-dataflow/dataflow.yml --uv

## Run yolo graph
dora run dataflow.yml --uv

Make sure to have a webcam

To stop your dataflow, you can use ctrl+c

• To understand what is happening, you can look at the dataflow with:

cat dataflow.yml

• Resulting in:

nodes:
  - id: camera
    build: pip install opencv-video-capture
    path: opencv-video-capture
    inputs:
      tick: dora/timer/millis/20
    outputs:
      - image
    env:
      CAPTURE_PATH: 0
      IMAGE_WIDTH: 640
      IMAGE_HEIGHT: 480

  - id: object-detection
    build: pip install dora-yolo
    path: dora-yolo
    inputs:
      image: camera/image
    outputs:
      - bbox

  - id: plot
    build: pip install dora-rerun
    path: dora-rerun
    inputs:
      image: camera/image
      boxes2d: object-detection/bbox

• In the above example, we can understand that the camera is sending image to both the rerun viewer as well as a yolo model that generates bounding box that is visualized within rerun.

Documentation

The full documentation is available on our website. A lot of guides are available on this section of our website.

What is Dora? And what features does Dora offer?

Dataflow-Oriented Robotic Architecture (dora-rs) is a framework that makes creation of robotic applications fast and simple.

dora-rs implements a declarative dataflow paradigm where tasks are split between nodes isolated as individual processes.

The dataflow paradigm has the advantage of creating an abstraction layer that makes robotic applications modular and easily configurable.

TCP Communication and Shared Memory

Communication between nodes is handled with shared memory on a same machine and TCP on distributed machines. Our shared memory implementation tracks messages across processes and discards them when obsolete. Shared memory slots are cached to avoid new memory allocation.

Arrow Message Format

Nodes communicate with Apache Arrow Data Format.

Apache Arrow is a universal memory format for flat and hierarchical data. The Arrow memory format supports zero-copy reads for lightning-fast data access without serialization overhead. It defines a C data interface without any build-time or link-time dependency requirement, that means that dora-rs has no compilation step beyond the native compiler of your favourite language.

Opentelemetry

dora-rs uses Opentelemetry to record all your logs, metrics and traces. This means that the data and telemetry can be linked using a shared abstraction.

Opentelemetry is an open source observability standard that makes dora-rs telemetry collectable by most backends such as elasticsearch, prometheus, Datadog…

Opentelemetry is language independent, backend agnostic, and easily collect distributed data, making it perfect for dora-rs applications.

ROS2 Bridge

Note: this feature is marked as unstable.

• Compilation Free Message passing to ROS 2
• Automatic conversion ROS 2 Message <-> Arrow Array

import pyarrow as pa

# Configuration Boilerplate...
turtle_twist_writer = ...

## Arrow Based ROS2 Twist Message
## which does not require ROS2 import
message = pa.array([{
            "linear": {
                "x": 1,
            },
            "angular": {
                "z": 1
            },
        }])

turtle_twist_writer.publish(message)

You might want to use ChatGPT to write the Arrow Formatting: https://chat.openai.com/share/4eec1c6d-dbd2-46dc-b6cd-310d2895ba15

Contributing

We are passionate about supporting contributors of all levels of experience and would love to see you get involved in the project. See the contributing guide to get started.

Discussions

Our main communication channels are:

• Our Discord server
• Our Github Project Discussion

Feel free to reach out on any topic, issues or ideas.

We also have a contributing guide.

License

This project is licensed under Apache-2.0. Check out NOTICE.md for more information.

Further Resources 📚

• Zenoh Documentation
• DORA Zenoh Discussion (GitHub Issue #512)
• Dora Autoware Localization Demo