HORUS Robotics - Python Bindings

Python bindings for the HORUS robotics framework. Sub-microsecond messaging with a simple Python API.

Installation

pip install horus-robotics

Quick Start

import horus

# Create a node with callbacks
def my_tick(node):
    node.send("output", 42.0)
    msg = node.recv("input")
    if msg:
        print(f"Got: {msg}")

node = horus.Node(
    name="my_node",
    pubs=["output"],
    subs=["input"],
    tick=my_tick,
    rate=30,
)

horus.run(node, duration=10)

Typed Messages

from horus import Topic, CmdVel, Pose2D

topic = Topic(CmdVel)                        # Typed topic (auto-named "cmd_vel")
topic.send(CmdVel(linear=1.5, angular=0.3))
msg = topic.recv()                            # Returns CmdVel instance

Scheduler API

import horus
from horus import Node, Scheduler

sched = Scheduler(tick_rate=1000)
sched.add(Node(tick=motor_fn, rate=1000, order=0))
sched.add(Node(tick=planner_fn, rate=100, order=5, compute=True))
sched.add(Node(tick=telemetry_fn, rate=1, order=10))
sched.run()

Multiple Nodes

import horus

def sensor_tick(node):
    node.send("sensor_data", 42.0)

def control_tick(node):
    data = node.recv("sensor_data")
    if data:
        node.send("cmd_vel", data * 0.5)

sensor = horus.Node(name="sensor", pubs=["sensor_data"], tick=sensor_tick, rate=100)
controller = horus.Node(name="controller", subs=["sensor_data"], pubs=["cmd_vel"], tick=control_tick, rate=100)

horus.run(sensor, controller, duration=30)

Cross-Language

Rust and Python nodes communicate seamlessly through shared topics. Use Rust for real-time control and Python for AI/ML and high-level logic.

Documentation

• Full Docs
• Getting Started
• Python API

Requirements

• Python 3.9+
• Linux (x86_64)

License

Apache-2.0 - see LICENSE

Links

• GitHub
• Discord
• Documentation