API Reference

Welcome to the HORUS API reference documentation. This section provides detailed documentation for all public types, traits, and functions in the HORUS framework.

Crates

Quick Reference

Core Types

Error Handling

Message Types

Import Patterns

Minimal Import

use horus::prelude::*;

This single import gives you access to 165+ types — everything needed for typical robotics applications.

Explicit Import (Alternative)

If you prefer explicit imports:

use horus::prelude::{
    // Core traits and types
    Node, NodeState, HealthStatus, LogSummary,
    // Communication
    Topic,
    // Scheduling
    Scheduler, FailurePolicy,
    // Real-time
    DurationExt, Frequency, Miss, Rate, Stopwatch,
    // Errors
    Error, Result, HorusError,
    // Messages
    Pose2D, LaserScan, Imu, CmdVel, MotorCommand,
};

Prelude Contents

The horus::prelude re-exports everything you need without hunting for module paths. Here is the full inventory, grouped by category.

Core Traits & Types

Communication

Scheduling & Execution

Real-Time & Timing

Memory Domain Types

Transform Frame

Geometry Messages

Accel, AccelStamped, Point3, Pose2D, Pose3D, PoseStamped, PoseWithCovariance, Quaternion, TransformStamped, Twist, TwistWithCovariance, Vector3

Sensor Messages

BatteryState, FluidPressure, Illuminance, Imu, JointState, LaserScan, MagneticField, NavSatFix, Odometry, RangeSensor, Temperature

Clock & Time Messages

Clock, TimeReference, SOURCE_WALL, SOURCE_SIM, SOURCE_REPLAY

Control & Actuator Messages

CmdVel, DifferentialDriveCommand, JointCommand, MotorCommand, PidConfig, ServoCommand, TrajectoryPoint

Diagnostics Messages

DiagnosticReport, DiagnosticStatus, DiagnosticValue, EmergencyStop, Heartbeat, NodeHeartbeat, NodeStateMsg, ResourceUsage, SafetyStatus, StatusLevel

Vision & Perception Messages

BoundingBox2D, BoundingBox3D, CameraInfo, CompressedImage, Detection, Detection3D, Landmark, Landmark3D, LandmarkArray, PlaneDetection, RegionOfInterest, SegmentationMask, TrackedObject, TrackingHeader

Navigation Messages

CostMap, NavGoal, NavPath, OccupancyGrid, PathPlan

Force & Impedance Messages

ForceCommand, ImpedanceParameters, WrenchStamped

Input Messages

JoystickInput, KeyboardInput

Application Messages

CmdVel, GenericMessage (flexible cross-language messaging, MAX_GENERIC_PAYLOAD = 4096)

Type Helpers

Device, ImageEncoding, PointXYZ, PointXYZI, PointXYZRGB, TensorDtype

Actions

Action, ActionClient, ActionClientBuilder, ActionClientNode, ActionError, ActionResult, ActionServerBuilder, ActionServerNode, CancelResponse, ClientGoalHandle, GoalId, GoalOutcome, GoalPriority, GoalResponse, GoalStatus, PreemptionPolicy, ServerGoalHandle

Services

AsyncServiceClient, Service, ServiceClient, ServiceError, ServiceRequest, ServiceResponse, ServiceResult, ServiceServer, ServiceServerBuilder

Error Handling

Error, Result, HorusError, HorusContext, CommunicationError, ConfigError, MemoryError, NodeError, NotFoundError, ParseError, ResourceError, SerializationError, Severity, TimeoutError, TransformError, ValidationError, retry_transient(), RetryConfig

Macros (with "macros" feature)

Version Compatibility

See Also

• Cargo Feature Flags - Feature flags across all HORUS crates
• Core Concepts - Understanding HORUS architecture
• Examples - Working code examples
• Message Types - Standard message reference