Python API

Complete Python API documentation for HORUS. The Python bindings are built with PyO3, exposing the core Rust framework to Python with zero-copy shared memory IPC.

Python Bindings

Full reference for the HORUS Python bindings:

• Node — Create nodes with tick, init, and shutdown callbacks
• Topic — Unified pub/sub with typed messages (CmdVel, Pose2D, Imu, etc.)
• Scheduler — Node execution with priority ordering and rate control
• Scheduler presets — Safety-critical, high-performance, hard RT, etc.
• TransformFrame / Transform — Coordinate frame management
• TensorPool / TensorHandle — Zero-copy shared memory tensors with DLPack

Custom Messages

Create your own typed messages in Python:

• Runtime messages - No build step, ~20-40μs latency
• Compiled messages - Requires maturin, ~3-5μs latency
• NumPy-based messages for better performance
• YAML schema support for team projects

Async Nodes

Asynchronous Python nodes for non-blocking I/O operations.

Memory Types

Zero-copy Image, PointCloud, DepthImage, and TensorHandle with NumPy/PyTorch/JAX interop.

Perception Types

Object detection, tracking, pose estimation — DetectionList, TrackedObject, COCOPose, PointCloudBuffer.

TransformFrame

Coordinate frame management — register frames, look up transforms, interpolate, export.

Quick Reference

Core Classes

Message Types

Transform System

Perception Types

Available in horus.perception:

Tensor System

Networking

Installation

pip install horus-robotics

Minimal Example

import horus

def my_tick(node):
    node.send("greeting", "Hello from Python!")
    msg = node.get("greeting")
    if msg:
        print(msg)

node = horus.Node(
    name="MyNode",
    pubs=["greeting"],
    subs=["greeting"],
    tick=my_tick,
    rate=10
)

horus.run(node)