Learn HORUS

This section explains what HORUS is and why it works the way it does. Read these pages to build a mental model before writing code.

Start Here

Concepts

1. What is HORUS? — The problem HORUS solves and how it's different from ROS2
2. Architecture — Nodes, topics, scheduler — how the pieces fit together
3. Real-Time for Robotics — What "real-time" means, why robots need it, and when you don't
4. Communication Patterns — Topics vs services vs actions — when to use which
5. Safety & Fault Tolerance — Watchdogs, failure policies, and safe states
6. Coordinate Transforms — Frame chains, interpolation, and why robots need transforms
7. Coming from ROS2 — Concept mapping, architecture differences, and migration guide

See Also

• Getting Started — Install HORUS
• Tutorials — Step-by-step learning path
• Core Concepts — In-depth concept explanations