Python API

Overview of the NimbusOS Python SDK subscriptions, publications, connection model, and CLI tools.

Table of Contents

• Setup
• Quick Start
• Publishing
• API
• Subscriptions
• CLI

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.

Topic	Helper	Description
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.

Topic	Method	Description
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.

Direction	Default endpoint
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.