zook111 / dora

low latency, composable, and distributed dataflow for AI and robotic application

Website | Python API - Rust API | Guide | Discord

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Why dora-rs?

In 2023, AI is booming! Robotic framework however hasn't changed much in years... This is why we create dora-rs! dora-rs is a new robotic framework that brings modernity into robotic application.

dora-rs can already show impressive performance, up to 17x speedup compared to ROS2 in Python! This is the result of using our own shared memory server and Apache Arrow to achieve zero copy!

Those performance improvements make a world of difference for beginners, AI practitioners, and weekend hobbyists who have been limited by the lack of support for Python in this field!

But, dora-rs is still experimental and we're still working on many features such as:

• dora-ros2-bridge to bridge dora and ros 2!
• dora-rs for Deep Learning applications, to make it easy to integrate state of the art DL model and hopefully train them within the framework.

Feel free to reach out if you have any questions!

Installation

Quickest way:

cargo install dora-cli # In case of issues, you can try to add `--locked`
pip install dora-rs # For Python API

dora --help

For more installation guideline, check out our installation guide here: https://dora.carsmos.ai/docs/guides/Installation/installing

Getting Started

1. Install the example python dependencies:

pip install -r https://raw.githubusercontent.com/dora-rs/dora/v0.3.2/examples/python-operator-dataflow/requirements.txt

2. Get some example operators:

wget https://raw.githubusercontent.com/dora-rs/dora/v0.3.2/examples/python-operator-dataflow/webcam.py
wget https://raw.githubusercontent.com/dora-rs/dora/v0.3.2/examples/python-operator-dataflow/plot.py
wget https://raw.githubusercontent.com/dora-rs/dora/v0.3.2/examples/python-operator-dataflow/utils.py
wget https://raw.githubusercontent.com/dora-rs/dora/v0.3.2/examples/python-operator-dataflow/object_detection.py
wget https://raw.githubusercontent.com/dora-rs/dora/v0.3.2/examples/python-operator-dataflow/dataflow.yml

3. Start the dataflow

dora up
dora start dataflow.yml --attach --hot-reload

Make sure to have a webcam

To stop your dataflow, you can use ctrl+c

To go further, you can add a yolov8 operator, check out our getting started here: https://dora.carsmos.ai/docs/guides/getting-started/yolov8/

Documentation

The full documentation is available on our website: https://dora.carsmos.ai

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.