Cerulion
Robot middleware at microsecond latency. Zero-copy, deterministic, ROS2-compatible. Built.
Cerulion is a communication framework for real-time robotics, built in Rust on iceoryx2 shared memory. It targets the single-machine, real-time graph, providing zero-copy inter-process communication with microsecond-scale latency that remains payload-independent, along with deterministic and replayable execution by default.
The framework supports native ROS2 message types, including sensor_msgs, geometry_msgs, nav_msgs, and tf2_msgs, allowing existing ROS2 nodes to run inside the Cerulion runtime. It handles non-POD types with unsized arrays through shared memory in place. Execution order is derived from the graph rather than the OS scheduler, enabling bit-for-bit replay of field issues. Quality-of-service features include trigger topics, statically-derived node ordering, and backpressure that throttles upstream instead of dropping data, with missed tick deadlines surfaced explicitly. Nodes remain process-isolated while messages still clear in microseconds.
Cerulion is aimed at robotics engineers working on production real-time systems. It installs on Linux via a one-line command and is available for live benchmarking on a customer's own robot through a demo booking.
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