Core Concepts

Understanding the fundamental concepts behind HORUS.

Overview

• What is HORUS? - Introduction to the framework
• Architecture - System design and components
• Goals & Vision - Design philosophy and objectives

Core Components

• Nodes - Computational units and lifecycle
• Node Macro - Declarative node definition with node!
• Topic - Unified pub/sub communication
• POD Types - Automatic zero-serialization fast path inside Topic<T>
• Scheduler - Execution orchestration

Messages & Data

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

Communication

• Communication Overview - Communication patterns
• Services - Synchronous request/response RPC between nodes (Beta)
• Actions - Long-running tasks with feedback, cancellation, and preemption (Beta)

Performance & Advanced

• Real-Time Nodes - Building real-time capable nodes
• Multi-Language Support - Rust + Python integration