> ## Documentation Index
> Fetch the complete documentation index at: https://instro.nominal.io/llms.txt
> Use this file to discover all available pages before exploring further.

# Concepts

> Core building blocks behind instro's instruments and drivers

# Concepts

* **[Publishers](/instrumentation/publishers)**: stream measurements to a file, Nominal, or a destination of your own.
* **[Library](/instrumentation/library)**: the `Instrument`, `Measurement`, and `Command` building blocks every HAL shares.
* **[Exceptions](/instrumentation/exceptions)**: the `instro`-specific error types and how to handle them.
* **[Custom instruments](/instrumentation/custom-instruments)**: build a new instrument type by subclassing `Instrument`.
* **[Contrib drivers](/instrumentation/contrib)**: community drivers Nominal accepts on contributor verification.