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Quickstart

This is the shortest realistic path from a source checkout to a working HORUS MR session.

What this page is for

If this is your first time with the SDK, finish this page once, then continue with the tutorial track. The quickstart proves that the stack works. The tutorials explain how the registration model is structured and how to build your own integration cleanly.

The primary registration script is python/examples/ops_registration.py. Its paired fake runtime still lives under python/examples/legacy/ because that folder contains the simulator and validation tooling.

1. Prepare the shell​

cd ~/horus_sdk
source /opt/ros/jazzy/setup.bash  # or humble
source ~/horus_ws/install/setup.bash
export PYTHONPATH=python:$PYTHONPATH

2. Start the paired fake runtime​

Terminal A:

python3 python/examples/legacy/fake_tf_ops_suite.py

This runtime publishes TF, compressed front cameras, teleop command handling, nav-task status, odometry, paths, and collision-risk signals for a small wheeled fleet.

3. Register the fleet​

Terminal B:

python3 python/examples/ops_registration.py

The SDK registration process keeps itself alive and will attempt to auto-start horus_unity_bridge if your current ROS shell can resolve it.

Use quickstart as a sanity baseline

Do not start by editing ops_registration.py. Run it once unchanged. That gives you a known-good baseline before you introduce your own robot names, topics, frames, or camera choices.

4. Open HORUS MR​

In the headset:

  1. Launch the HORUS app.
  2. Connect to the machine running horus_ros2.
  3. Accept the workspace.
  4. Select a robot and open Robot Manager.

Expected results:

  • robots appear after workspace acceptance
  • Robot Manager opens for a selected robot only
  • the front camera appears in the projected panel and minimap camera panel
  • Teleop, Go-To Point, and Draw Waypoint controls are active

5. Sanity checks​

In any ROS shell:

ros2 topic echo /horus/registration_ack
ros2 topic list | grep atlas

If registration succeeds, you should see ACK traffic and the expected per-robot topics for atlas, nova, and orion.

Next steps​