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
• Node Macro - Declarative node definition with node!
• Topic (MPMC) - Unified pub/sub communication
• PodTopic - Zero-copy POD message transport
• Scheduler - Execution orchestration

Messages & Data

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

Communication

• Communication Overview - Communication patterns

Performance & Advanced

• Multi-Language Support - Rust + Python integration