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Welcome to Cerulion

Cerulion is a high-performance middleware for robotics and real-time systems. It delivers sub-microsecond local latency via shared memory and automatic transport selection between local and network nodes — so you never configure transports manually.
Cerulion is in closed alpha. If you have access, you’re one install command away from your first pub/sub graph.

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Get Started

Read the Overview

Understand Cerulion’s architecture: nodes, graphs, topics, and dual transport

Install Cerulion

One command installs the CLI, core libraries, and shell completions

Build Your First Graph

Create a workspace, write two nodes, wire them together, and run

Explore Pub/Sub Patterns

Periodic publishers, triggered subscribers, and graph wiring

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Core Components

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Cerulion CLI

Command-line toolkit for Cerulion.
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Cerulion Core

High Performance Pub/Sub Library

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Why Cerulion?

CapabilityWhat it means
Zero-copy local transporticeoryx2 shared memory delivers sub-microsecond latency between nodes on the same machine
Automatic network transportZenoh handles cross-machine communication — no configuration, no mode switching
Type-safe messagesROS2-compatible primitives (Image, Twist, Pose) with compile-time guarantees
Multi-language supportGenerate Rust and Python bindings from YAML schemas
High availabilityNetwork failures never block local communication
Production readySigned builds, observability, and cerulion doctor for verification

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Reference

CLI Commands

Complete reference for every CLI command with examples and JSON output.

Wireformat Messages

Built-in message types, custom schemas, and serialization details.