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README.md

Horus Examples

Ten complete robotics applications covering every workflow a ROS2 developer needs. Ordered from simple to advanced, with both Rust and Python examples.

Learning Path

Getting Started

Example Language What you'll learn
differential_drive Rust Nodes, topics, messages, scheduler basics
python_robot Python Same as differential_drive — the Python starting point

Core Robotics

Example Language What you'll learn
robot_arm Rust Services, frame transforms (TransformFrame), trajectory control
sensor_navigation Rust Multi-rate scheduling, sensor pipelines, reactive control
camera_perception Rust CV pipeline: camera → object detection → tracking (IoU, SORT)

Advanced

Example Language What you'll learn
multi_robot Rust Namespaced topics, launch files, fleet coordination
quadruped Rust Real-time nodes, budgets, deadlines, IMU feedback
pick_and_place Rust Actions: goal lifecycle, feedback, cancellation

Production

Example Language What you'll learn
driver_integration Rust Hardware drivers via [drivers] config, Terra HAL, custom drivers
record_replay Rust Session recording, blackbox forensics, deterministic replay

ROS2 Migration Guide

ROS2 Workflow Horus Example
Publisher/Subscriber tutorial differential_drive or python_robot
tf2 and frame transforms robot_arm
nav2 sensor pipeline sensor_navigation
darknet_ros / YOLO detection camera_perception
Multi-robot swarm multi_robot
ros2_control hardware driver_integration
MoveIt pick-and-place pick_and_place
rosbag2 record/play record_replay
Legged robot control quadruped

Prerequisites

  • Horus installed (horus CLI available)
  • sim3d installed (for physics simulation)
  • Python 3.9+ (for python_robot example)

Quick start

Every Rust example follows the same workflow:

# Terminal 1: start the simulator (optional — examples work without sim)
sim3d --mode visual --robot robots/<robot>.urdf --world worlds/<world>.yaml

# Terminal 2: run the controller
horus run main.rs

For Python:

horus run main.py

While running, use the CLI to inspect the system:

horus topic list          # see active topics
horus topic echo <topic>  # watch live messages
horus node list           # see running nodes
horus monitor -t          # TUI dashboard

File structure

Each example contains:

example_name/
  main.rs / main.py      # Controller application
  horus.toml              # Project manifest (deps, drivers, scripts)
  robots/*.urdf           # Robot description (links, joints, sensors)
  worlds/*.yaml           # Environment (ground, obstacles, lighting)
  launch/*.yaml           # Launch configuration (multi_robot only)
  README.md               # Walkthrough and expected behavior