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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 🎉

2025

• [08/25] Introduced dora.builder, a new Pythonic API for imperatively defining dora dataflows.
• [07/25] Added Kornia rust nodes in the hub for V4L / Gstreamer cameras and Sobel image processing.
• [06/25] Add support for git based node, dora-vggt for multi-camera depth estimation, and adding robot_descriptions_py as a default way to get urdfs within dora.
• [05/25] Add support for dora-pytorch-kinematics for fk and ik, dora-mediapipe for pose estimation, dora-rustypot for rust serialport read/write, points2d and points3d visualization in rerun.
• [04/25] Add support for dora-cotracker to track any point on a frame, dora-rav1e AV1 encoding up to 12bit and dora-dav1d AV1 decoding,
• [03/25] Add support for dora async Python.
• [03/25] Add support for Microsoft Phi4, Microsoft Magma.
• [03/25] dora-rs has been accepted to GSoC 2025 🎉, with the following idea list.
• [03/25] Add support for Zenoh for distributed dataflow.
• [03/25] Add support for Meta SAM2, Kokoro(TTS), Improved Qwen2.5 Performance using llama.cpp.
• [02/25] Add support for Qwen2.5(LLM), Qwen2.5-VL(VLM), outetts(TTS)

Support Matrix

Rust ✅

C/C++ 🆗

ROS2 >= Foxy 🆗 | | OS | Linux: Arm 32 ⭐✅ Arm 64 ⭐✅ x86_64 ⭐✅

MacOS: Arm 64 ⭐✅

Windows: x86_64 🆗

WSL: x86_64 🆗

Android: 🛠️ (Blocked by: https://github.com/elast0ny/shared_memory/issues/32)

IOS: 🛠️ | | Message Format | Arrow ✅

Standard Specification 🛠️ | | Local Communication | Shared Memory ✅

Cuda IPC 📐 | | Remote Communication | Zenoh 📐 | | RGB-D Streaming | AV1 Encoding (dora-rav1e), AV1 Decoding (dora-dav1d)📐 | | Metrics, Tracing, and Logging | Opentelemetry 📐 | | Configuration | YAML ✅ | | Package Manager | pip: Python Node ✅ Rust Node ✅ C/C++ Node 🛠️

cargo: Rust Node ✅ |

• ⭐ = 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.

=

Getting Started

Installation

pip install dora-rs-cli

Additional installation methods

Install dora with our standalone installers, or from crates.io:

With cargo

cargo install dora-cli

With Github release for macOS and Linux

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

To install a specific version:

curl --proto '=https' --tlsv1.2 -LsSf https://raw.githubusercontent.com/dora-rs/dora/main/install.sh | sh -s -- --tag v0.3.12

With Github release for Windows

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

With Source

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