HORUS

Hybrid Optimized Robotics Unified System

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HORUS IPC Architecture296ns latency • Zero-copy shared memory communicationSHARED MEMORYSensorNodeControlNodeActuatorNode/sensors/imu/cmd_vel/odom/laser_scanLive Logs[12:39:28.039] [IPC: 1112ns | Tick: 218μs] SensorNode --> '/sensors/imu'[12:39:28.039] [IPC: 1927ns | Tick: 10μs] ControlNode <-- '/sensors/imu'[12:39:28.156] [IPC: 1136ns | Tick: 31μs] SensorNode --> '/cmd_vel'[12:39:28.207] [IPC: 5462ns | Tick: 41μs] ActuatorNode <-- '/cmd_vel'[12:39:28.208] [IPC: 1612ns | Tick: 241μs] ControlNode --> '/odom'[12:39:28.219] [IPC: 2836ns | Tick: 25μs] ControlNode <-- '/odom'[12:39:28.358] [IPC: 1047ns | Tick: 29μs] SensorNode --> '/laser_scan'[12:39:28.408] [IPC: 2678ns | Tick: 30μs] ActuatorNode <-- '/laser_scan'[12:39:28.558] [IPC: 982ns | Tick: 25μs] SensorNode --> '/sensors/imu'[12:39:28.608] [IPC: 3531ns | Tick: 28μs] ControlNode <-- '/sensors/imu'[12:39:28.708] [IPC: 1247ns | Tick: 35μs] ActuatorNode --> '/cmd_vel'[12:39:28.808] [IPC: 2145ns | Tick: 42μs] SensorNode <-- '/laser_scan'[12:39:28.908] [IPC: 1089ns | Tick: 19μs] ControlNode --> '/sensors/imu'[12:39:29.108] [IPC: 1534ns | Tick: 27μs] SensorNode --> '/cmd_vel'Publish (Node → Topic)Subscribe (Topic → Node)
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