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

// simplified
use horus::prelude::*;

This import gives you the core runtime API, memory domain types, actions, services, errors, and the horus_types geometry/time/diagnostics messages. Robotics-specific messages and transform frames are separate ecosystem crates.

Explicit Import (Alternative)

If you prefer explicit imports:

// simplified
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,
    // Core POD messages
    Pose2D, Twist, GenericMessage,
};
use horus_robotics::prelude::{CmdVel, Imu, LaserScan, MotorCommand};
use horus_tf::prelude::{Transform, TransformFrame, TransformFrameConfig, timestamp_now};

Prelude Contents

The horus::prelude re-exports the core runtime surface. Ecosystem prelude imports are shown separately where the types live outside the horus crate.

Core Traits & Types

Communication

Scheduling & Execution

Real-Time & Timing

Memory Domain Types

Transform Frame (horus_tf::prelude)

Geometry Messages

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

Sensor Messages (horus_robotics::prelude)

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 (horus_robotics::prelude)

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

Diagnostics Messages

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

Vision & Perception Messages (horus_robotics::prelude)

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

Navigation Messages (horus_robotics::prelude)

CostMap, NavGoal, NavPath, OccupancyGrid, PathPlan

Force & Impedance Messages (horus_robotics::prelude)

ForceCommand, ImpedanceParameters, WrenchStamped

Input Messages (horus_robotics::prelude)

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