Standard Library

The HORUS Standard Library (horus_library) provides 55+ typed messages for robotics, coordinate transforms (TransformFrame), and zero-copy domain types (Image, PointCloud, DepthImage). All types work in both Rust and Python.

Which Type Do I Need?

I need to...	Use	Rust	Python
Drive wheels / send velocity	`CmdVel`	`CmdVel::new(0.5, 0.1)`	`CmdVel(linear=0.5, angular=0.1)`
Read IMU (accel + gyro)	`Imu`	`imu.linear_acceleration`	`imu.linear_acceleration`
Read LiDAR scan	`LaserScan`	`scan.ranges`	`scan.ranges`
Send camera images	`Image`	`Image::new(640, 480, Rgb8)`	`Image(640, 480, encoding=0)`
Send 3D point cloud	`PointCloud`	`PointCloud::new(1000, XYZ)`	`PointCloud(num_points=1000)`
Read wheel odometry	`Odometry`	`odom.x`, `odom.y`	`odom.x`, `odom.y`
Control joints	`JointState`	`js.positions`	`js.positions`
Detect objects (2D)	`Detection`	`det.class_name`	`det.class_name`
Detect objects (3D)	`Detection3D`	`det.bbox`	`det.bbox`
Build a 2D map	`OccupancyGrid`	`grid.is_free(x, y)`	`grid.is_free(x, y)`
Plan a path	`NavPath`	`path.add_waypoint(wp)`	`path.add_waypoint(wp)`
Estimate body pose	`LandmarkArray`	`.coco_pose()`	`.coco_pose()`
Transform coordinates	`TransformFrame`	`tf.lookup("camera", "world")`	`tf.lookup("camera", "world")`
Monitor robot health	`SafetyStatus`	`status.estop_engaged`	`status.estop_engaged`

Sections

Message Types — All 55+ message types organized by category
TransformFrame — Coordinate transform system
Image — Zero-copy camera images
PointCloud — 3D point cloud data
DepthImage — Depth maps from stereo/structured light
Tensor & DLPack — ML tensor exchange with PyTorch/JAX
Python Message Library — All types in Python with field tables