Getting Started

Talos is a Cargo workspace with four crates:

• talos-common: protocol, config, transport, session, and URDF support.
• talos-agent: ROS 2 bridge process that runs on the robot.
• talos-cli: command-line client.
• talos-tui: terminal UI client.

Build Without ROS 2

The client crates and shared library do not require a ROS 2 environment:

cargo check -p talos-common -p talos-cli -p talos-tui

Build Everything

The agent depends on rclrs, so source the ROS 2/rclrs workspace first:

source rclrs_ws/install/setup.bash
cargo check --workspace

Enable QUIC

QUIC support is feature-gated:

cargo build --features quic

Without the quic feature, Talos builds UDS support only.

Run The Agent

With no --config argument, the agent looks for talos-agent.toml in the current directory. If the file is absent, it starts with default UDS transport and no configured topic subscriptions.

talos-agent --config talos-agent.toml

Run A Client

For local UDS access:

talos-cli list-topics
talos-cli echo /joint_states --count 5
talos-tui

For remote QUIC access, build with --features quic and pass --remote:

talos-cli --remote 192.168.1.50:4433 list-topics
talos-tui --remote 192.168.1.50:4433