Tutorials

Step-by-step guides that teach robotics concepts by building real, runnable applications with HORUS. Each tutorial builds a complete working application. Follow them in order — each one builds on concepts from the previous.

Rust Learning Path

#	Tutorial	What You'll Build	What You'll Learn
1	Quick Start	Temperature sensor + monitor	Node, Topic, Scheduler basics
2	Sensor Pipeline	3-node sensor → filter → display	Multi-node architecture, message flow
3	IMU Sensor Node	IMU data publisher at 100Hz	Custom data types, `.hz()`, sensor patterns
4	Motor Controller	Velocity → position controller	Subscribing, state management, safe shutdown
5	Full Robot Integration	4-node robot system	Multi-rate scheduling, data fusion, monitoring
6	Custom Message Types	Battery monitor with custom messages	message! macro, manual derives, GenericMessage
7	Hardware Drivers	Servo bus + custom conveyor driver	horus.toml [hardware], NodeParams, register_driver!
8	Real-Time Control	Hard-RT motor + lidar + planner	.rate(), .budget(), .on_miss(), .failure_policy(), .compute()
9	Debug with Record & Replay	Record a bug, replay, fix with mixed replay	.with_recording(), replay_from(), inject, diff
10	Choosing Configuration	Progressive config levels	Rate, budget, deadline, safety
11	Common Mistakes	—	13 pitfalls and how to avoid them

Python Tutorials

The same progression, using the Python API:

#	Tutorial	What You'll Build
1	Quick Start (Python)	Temperature sensor + monitor
2	IMU Sensor Node (Python)	IMU data publisher at 100Hz
3	Motor Controller (Python)	Velocity → position controller with safe shutdown
4	Full Robot System (Python)	4-node robot with multi-rate scheduling
5	Custom Messages (Python)	Typed messages, dicts, dataclasses
6	Hardware & Real-Time (Python)	Drivers, budgets, deadlines, production config

Prerequisites

HORUS installed (Installation Guide)
Basic Rust or Python knowledge (Choosing a Language)

Tutorials

Rust Learning Path

Python Tutorials

Prerequisites

See Also