Wm2nmsr

Wm2nmsr is a software framework designed to orchestrate real-time processing of multisensory data streams in robotics and automated sensing environments. It provides a unified data model for sensors, actuators, and derived signals, together with a graph-based processing engine that enables the construction and execution of analytics pipelines. The framework emphasizes modularity, extensibility, and deterministic timing to support mission-critical applications.

Architecturally, Wm2nmsr comprises a core runtime, a sensor adapter layer, a processing graph, and a plugin interface for algorithms. Data exchange occurs over a lightweight bus with time stamps to enable synchronization. It includes a Python and C++ API, and uses JSON for configuration. The scheduler supports parallel execution and run-time QoS policies.

Wm2nmsr originated in the late 2010s within a research group at a university, with the initial release in 2019. Version 1.x introduced the graph engine and plugin API, while 2.x added improved real-time scheduling, better ROS 2 compatibility, and a redesigned adapter layer. The name is treated as a project code rather than an acronym with a fixed official expansion.

The framework has been used in academic labs for sensor fusion, SLAM, and perception studies, and has seen pilot deployments in autonomous systems research. Communities emphasize its emphasis on determinism and modularity, but note a steep learning curve and a relatively small ecosystem of ready-made plugins compared with larger platforms.

Related topics include robotics middleware, sensor fusion, real-time operating systems, and model-based processing.