Core Concepts

Understanding the fundamental concepts behind HORUS.

Overview

• What is HORUS? - Introduction, goals, and use cases
• Architecture - System design and components

Core Components

• Nodes - Computational units and lifecycle
• Nodes (Beginner) - Simplified introduction to nodes
• Node Macro - Declarative node definition with node!
• Topic (Pub/Sub) - Unified pub/sub communication
• Topics (Beginner) - Simplified introduction to topics
• Message Performance - Zero-copy message transport
• Scheduler - Execution orchestration
• Scheduler (Beginner) - Simplified introduction to the scheduler
• Execution Classes - Rt, Compute, Event, AsyncIo, BestEffort

Messages & Data

• Message Types - Standard robotics message types (CmdVel, Imu, LaserScan, etc.)
• TransformFrame - Hierarchical coordinate transforms

Communication

• Communication Overview - Topics vs Services vs Actions
• Services - Request/response RPC pattern
• Actions - Long-running tasks with feedback and cancellation
• Multi-Process - Cross-process shared memory communication

Configuration & Advanced

• horus.toml - Project manifest and configuration
• Choosing Configuration - Configuration patterns
• Real-Time - RT auto-detection, budgets, deadlines
• Multi-Language Support - Rust + Python integration