RoP 将 RocketMQ 协议处理插件引入 Pulsar broker，这样 Pulsar 就能支持原生 RocketMQ 协议了。

Pafka is originated from the OpenAIOS project to leverage an optimized tiered storage access strategy to improve overall performance for streaming/messaging system.

Spire消息系统，一个类似ROS的轻量化消息发布、订阅软件包，支持图像、雷达等传感器话题。