CycloneDDS Prebuilt Binaries

Static website and PEP 503 compatible Python simple index for prebuilt CycloneDDS wheels on Linux aarch64 Unitree images.

The upstream Python binding is eclipse-cyclonedds/cyclonedds-python. Its official prebuilt binaries cover relatively few aarch64 robot environments, so installation often falls back to building CycloneDDS from source. This repository hosts a small static wheel index for those cases.

Install

Use this repository as an extra index:

pip install --extra-index-url https://pypi.cyoahs.dev/simple cyclonedds

Or install only from this index:

pip install --index-url https://pypi.cyoahs.dev/simple cyclonedds

Direct wheel downloads are available under:

https://pypi.cyoahs.dev/packages/

Unitree SDK2 Python compatibility note

When using Python newer than 3.10, unitree_sdk2_python with cyclonedds==0.10.2 may hit a runtime buffer overflow around ChannelFactoryInitialize; see unitreerobotics/unitree_sdk2_python#90. For Python 3.11 or 3.12 environments, install unitree_sdk2_python first, then override CycloneDDS with a newer wheel from this index:

pip install --upgrade --extra-index-url https://pypi.cyoahs.dev/simple cyclonedds==0.10.5

Build Environments

The current wheels were built on Unitree factory images:

Device / image	Python version	CycloneDDS versions
Thor, JetPack 7.0, L4T 38.2.1	CPython 3.12 (cp312)	0.10.2, 0.10.5, 11.0.1
Orin NX, JetPack 5.1.1, L4T 35.3.1	CPython 3.8 (cp38)	0.10.2, 0.10.5

If this index does not have a wheel for your Python, CycloneDDS, or device image combination, build it on the target environment:

./build_cyclonedds_wheels.sh 0.10.2

The deployed site also exposes the script:

https://pypi.cyoahs.dev/build_cyclonedds_wheels.sh

Static Layout

Everything served by Cloudflare lives in public/:

public/
├── index.html
├── en/
├── simple/
├── packages/
├── build_cyclonedds_wheels.sh
├── site-config.js
├── site.js
└── styles.css

The PyPI simple index uses relative package links, so it remains portable when the domain changes. To change the displayed install domain, edit public/site-config.js.

Deploy

This repository is configured for Cloudflare Workers Static Assets with wrangler.jsonc:

{
  "name": "cyclonedds",
  "compatibility_date": "2026-05-20",
  "assets": {
    "directory": "./public",
    "not_found_handling": "404-page"
  }
}

Use these Cloudflare Workers Builds commands:

Build command: true
Deploy command: npx wrangler deploy

Updating Wheels

1. Build the missing wheel on the target device/image.
2. Copy the wheel into public/packages/.
3. Add the wheel link to the matching public/simple/<package>/index.html.
4. If needed, update public/packages/index.html and the home page download list.

No generated site step is required; the repository is already a static deploy tree.

License

MIT License. See LICENSE.