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HORUS ROS2 Integration

horus_ros2 is the runtime side of HORUS. It is not a generic ROS bridge wrapper around somebody else's transport stack. It is the HORUS-specific ROS 2 runtime that carries registration payloads, commands, camera data, and optional WebRTC sessions between robotics code and the MR app.

What the SDK expects​

  • a ROS 2 shell with rclpy and message packages available
  • a built horus_ros2 workspace or an installer-managed HORUS layout
  • horus_unity_bridge discoverable from the current shell if SDK bridge auto-start is enabled

Common integration pattern​

The common source-checkout workflow is:

cd ~/horus_sdk
source /opt/ros/jazzy/setup.bash
source ~/horus_ws/install/setup.bash
export PYTHONPATH=python:$PYTHONPATH
python3 python/examples/ops_registration.py

If the bridge is not already running, the SDK registration client will try to start it.

Manual bridge launch​

Use this when you are debugging startup or intentionally bypassing SDK auto-start:

cd ~/horus_ws
source /opt/ros/jazzy/setup.bash
colcon build --symlink-install --packages-select horus_unity_bridge --cmake-args -DENABLE_WEBRTC=ON
source install/setup.bash
ros2 launch horus_unity_bridge unity_bridge.launch.py

Topics that matter most​

  • /horus/registration
  • /horus/registration_ack
  • /horus/heartbeat
  • /horus/webrtc/client_signal
  • /horus/webrtc/server_signal
  • /horus/multi_operator/sdk_registration_replay_*

Operational guidance​

  • Use Jazzy when you need the most complete bridge and WebRTC validation path.
  • Treat the SDK shell and the bridge shell as one runtime boundary: if source ~/horus_ws/install/setup.bash is missing, the SDK may serialize correctly but still fail to start the bridge automatically.