HORUS
- Software
- Middleware
- Framework
A real-time distributed middleware for Rust, Python and C++ that passes messages between nodes over shared memory instead of DDS, aimed at latency-sensitive robotics and control systems.
Made by softmata.
Source on GitHub: github.com/softmata/horus (opens in a new tab). Facts read at commit 39dfb3e (opens in a new tab).
Licenses
- Code
- Apache-2.0 (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (Apache-2.0) at commit 39dfb3e (opens in a new tab), on 22 Oct 2026.
- Commercial use
- Yes
What it does
- Nodes communicate through shared-memory ring buffers with lock-free synchronization.
- A deterministic scheduler offers five execution classes, including real-time threads, thread pools, event-driven and async I/O nodes.
- Built-in safety features include a graduated watchdog, deadline enforcement with miss policies, a safe-state hook and a BlackBox flight recorder.
- Rust, Python and C++ nodes share the same topics over shared memory.
- Includes message types, services, actions, coordinate transforms, tensor-backed zero-copy buffers for perception data, and 30+ hardware drivers declared in horus.toml.
- A command-line tool builds, runs, deploys and monitors projects.
Written by Robotheca from the project's README (opens in a new tab) at commit 39dfb3e.
Getting started
- Difficulty
- Intermediate
- How to start
- The project's website (opens in a new tab)
Maintenance
- Status
- Active: a commit in the last 90 days
- Newest commit
- 28 Sept 2026 on main
- Latest release
- v0.4.1 (4 Sept 2026)
Checked on GitHub on 22 Oct 2026.
Links
Robots that can run it
No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.
Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.