Python API
Overview of the NimbusOS Python SDK subscriptions, publications, connection model, and CLI tools.
Table of Contents
The NimbusOS Python SDK is a small public wrapper around supported NimbusOS V1 ZeroMQ pub/sub topics.
Use it when a Python application, demo, smoke test, or integration needs to observe NimbusOS state or send supported high-level commands.
What you get
The package includes:
NimbusClient, the main class for publishing commands and subscribing to messages.Typed Python dataclasses for common receive workflows.
Command-line tools for smoke testing and manual command publishing.
Supported subscriptions
Use typed helpers for application code. They return stable Python dataclasses.
telemetry
client.telemetry()
Battery, attitude, and link telemetry.
selected_state
client.selected_state()
Local-frame position, velocity, attitude, and orientation state.
camera
client.camera_frames()
Core-selected JPEG camera stream.
live_camera
client.live_camera_frames()
Raw live camera JPEG stream before core camera-source selection.
waypoint_status
client.waypoint_status()
Active waypoint progress and reached/held status.
autonomy_status
client.autonomy_status()
Current autonomy state such as landing or stopped states.
Supported publications
Publishing methods encode NimbusOS command messages and send them to the configured publish endpoint.
arm_state
client.publish_arm_state()
Publish armed or disarmed state.
autonomy_request
client.publish_autonomy_request()
Request takeoff, land, return_home, or a relative waypoint.
autonomy_request
client.publish_relative_waypoint()
Convenience helper for body-frame relative waypoints.
waypoint_speed
client.publish_waypoint_speed()
Set waypoint path speed from 0.05 to 0.75 meters per second.
yaw_turn_command
client.publish_yaw_turn_command()
Publish a relative yaw turn in radians.
camera_overlay
client.publish_camera_overlay()
Publish drawing instructions for camera inference overlays.
Connection model
NimbusOS publishes and receives messages over ZeroMQ. By default, the SDK connects to a local NimbusOS instance.
Publish
tcp://127.0.0.1:7771
Subscribe
tcp://127.0.0.1:7772
Override these endpoints with environment variables or explicit NimbusClient constructor arguments.
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