Curated Examples
Reference, not tutorial
This page is a catalog, not the main teaching path. If you are learning the SDK for the first time, start with the tutorial summary and come back here when you need a known-good script to copy.
The primary example catalog lives in python/examples/. These are the scripts new users should copy from when integrating a robot into HORUS.
The paired fake runtimes may still live under python/examples/legacy/, but they are supporting tools, not the main SDK surface.
Core registration workflows
| Script | Use when | Pair with |
|---|---|---|
ops_registration.py | you want the standard wheeled fleet workflow | python/examples/legacy/fake_tf_ops_suite.py |
flat_robot_registration.py | your robot graph is flat, not namespaced | python/examples/legacy/fake_tf_single_flat.py |
drone_registration.py | you need drone Take Off / Land behavior | python/examples/legacy/fake_tf_drone_ops_suite.py |
legged_registration.py | you need legged Stand Up / Sit Down behavior | python/examples/legacy/fake_tf_legged_ops_suite.py |
stereo_registration.py | you want minimap mono plus teleop stereo transport | python/examples/legacy/fake_stereo_camera_multi.py |
semantic_perception_registration.py | you want default-visible semantic boxes in the workspace | python/examples/legacy/fake_tf_ops_suite.py |
Robot description and map workflows
| Script | Use when | Pair with |
|---|---|---|
robot_description_registration.py | you want URDF-backed robot bodies | python/examples/legacy/fake_tf_robot_description_suite.py --robot-profile real_models |
occupancy_map_registration.py | you want a 2D occupancy layer | same robot-description runtime with --publish-occupancy-grid |
pointcloud_map_registration.py | you want a global PointCloud2 layer | same robot-description runtime with --map-3d-mode pointcloud |
mesh_map_registration.py | you want a dense mesh layer | same robot-description runtime with --map-3d-mode mesh |
octomap_registration.py | you want the octomap-style mesh path | same robot-description runtime with --map-3d-mode octomap |
global_maps_registration.py | you want one registration that carries all map families together | dedicated validation only |
Live robot workflows
| Script | Use when | Notes |
|---|---|---|
carter_registration.py | you are integrating a live Carter fleet | includes occupancy map, lidar, compressed cameras, plans, and teleop |
unitree_go1_registration.py | you are integrating a live Unitree Go1 | includes URDF mesh, compressed front camera, LaserScan, collision alert, and stand/sit relay |
Recommended reading order
Start here in order:
ops_registration.pyflat_robot_registration.pyrobot_description_registration.py- the map showcase registrations
- live Carter or Unitree only after the first three are stable
Where legacy still matters
The legacy example folder is still valuable for:
- fake runtimes that simulate topics and command subscribers
- advanced validation variants
- historical workflows that are not the primary onboarding path anymore
Use the root examples first. Drop into python/examples/legacy/ only when you need a paired simulator or a deeper diagnostic flow.