Message Types

HORUS provides 60+ typed messages covering every common robotics domain. All types are available in both Rust (use horus::prelude::*;) and Python (from horus import TypeName).

Coming from ROS2?

ROS2 Package	ROS2 Message	HORUS Equivalent
`geometry_msgs`	Twist, Pose, Pose2D, TransformStamped, Vector3, Quaternion	Twist, Pose3D, Pose2D, TransformStamped, Vector3, Quaternion
`sensor_msgs`	Imu, LaserScan, Image, PointCloud2, JointState, BatteryState, CameraInfo	Imu, LaserScan, Image, PointCloud, JointState, BatteryState, CameraInfo
`nav_msgs`	Odometry, OccupancyGrid, Path	Odometry, OccupancyGrid, NavPath + Waypoint
`vision_msgs`	Detection2D, Detection3D	Detection, Detection3D
`audio_common_msgs`	AudioData	AudioFrame
`std_msgs`	Header	(embedded — timestamp_ns and frame_id are fields on each message)

Key difference from ROS2: No separate Header message. Every HORUS message has timestamp_ns and frame_id as direct fields.

Message Categories

Category	Types	Use Case
Geometry	Pose2D, Pose3D, Twist, Vector3, Point3, Quaternion, TransformStamped, Accel	Position, orientation, motion
Sensors	Imu, LaserScan, Odometry, JointState, BatteryState, Range, Temperature, MagneticField	Sensor data from hardware
Control	CmdVel, MotorCommand, ServoCommand, JointCommand, PidState	Motor and actuator commands
Navigation	NavGoal, GoalResult, Waypoint, NavPath, OccupancyGrid, CostMap, VelocityObstacle	Path planning and mapping
Perception	Detection, Detection3D, TrackedObject, SegmentationMask, LandmarkArray, PlaneDetection	Computer vision and ML output
Vision	CompressedImage, CameraInfo, RegionOfInterest, StereoInfo	Camera configuration and compressed data
Force/Haptics	WrenchStamped, ForceCommand, ContactInfo, ImpedanceParameters, HapticFeedback	Force sensing and control
Diagnostics	Heartbeat, DiagnosticStatus, NodeHeartbeat, SafetyStatus, EmergencyStop	System health monitoring
Audio	AudioFrame	Microphone data, speech, anomaly detection
Input	JoystickInput, KeyboardInput	Human input devices

Custom Messages

Need a type that doesn't exist? Create your own:

use horus::prelude::*;

message! {
    MotorStatus {
        rpm: f32,
        current_amps: f32,
        temperature_c: f32,
        fault_code: u32,
    }
}

// Now use it like any standard message
let topic: Topic<MotorStatus> = Topic::new("motor.status")?;