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8,500 edges
435 files
1,280 documented · 35%
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README
Open-source municipal robotics. Autonomous utility vehicles for public works, starting with sidewalk snow removal.
Repository
muni/
├── bvr/ # Base Vectoring Rover (first morphology)
│ ├── firmware/ # Onboard software (Jetson Orin NX, Rust)
│ ├── cad/ # Mechanical design
│ ├── electrical/ # Schematics, PCBs
│ └── docs/ # BVR-specific documentation
├── depot/ # Base station (fleet ops, teleop, metrics)
├── mcu/ # Embedded firmware (RP2350, ESP32-S3)
├── paper/ # Technical documents (Typst)
└── web/ # Website
Architecture
┌─────────────────────────────────────────────────────────────────────────────┐
│ Depot (Base Station) │
│ │
│ Console (:80) Grafana (:3000) InfluxDB SFTP (:2222) │
│ Fleet ops Dashboards Metrics DB Session storage │
│ Teleop UI Alerts Time series Recording sync │
└───────────────────────────────────┬─────────────────────────────────────────┘
│
UDP metrics │ WebSocket teleop
SFTP sync │ RTK corrections
│
┌───────────────────────────────────┴─────────────────────────────────────────┐
│ BVR Rover │
│ │
│ ┌─────────────────────────────────────────────────────────────────────┐ │
│ │ Jetson Orin NX │ │
│ │ │ │
│ │ bvrd (main daemon) │ │
│ │ ├── teleop Commands, telemetry, video streaming │ │
│ │ ├── control Differential drive mixer, rate limiting │ │
│ │ ├── state Mode management, safety interlocks │ │
│ │ ├── gps RTK positioning │ │
│ │ └── recording Session capture to .rrd files │ │
│ └───────────────────────────────┬─────────────────────────────────────┘ │
│ │ CAN bus │
│ ┌───────────┬───────────────┼───────────────┬───────────────┐ │
│ │ │ │ │ │ │
│ ┌───┴───┐ ┌───┴───┐ ┌───┴───┐ ┌───┴───┐ ┌───┴───┐ │
│ │ VESC │ │ VESC │ │ VESC │ │ VESC │ │ MCU │ │
│ │ FL │ │ FR │ │ RL │ │ RR │ │ LEDs │ │
│ └───────┘ └───────┘ └───────┘ └───────┘ └───────┘ │
└─────────────────────────────────────────────────────────────────────────────┘
Quick Start
Base Station
cd depot
docker compose up -d
Console at http://localhost. See depot/README.md.
BVR Firmware
cargo install --path bvr/firmware/bins/cli
muni deploy rover <rover-hostname>
MCU Firmware
cd mcu
cargo build --release -p mcu-rp2350
picotool load target/thumbv8m.main-none-eabihf/release/mcu-rp2350 -t elf -f
See mcu/README.md.
Documentation
| Topic | Link |
|---|---|
| System architecture | bvr/docs/architecture.md |
| Hardware BOM | docs/hardware/bom.md |
| RTK GPS setup | docs/hardware/rtk.md |
| Teleop system | bvr/docs/teleop.md |
| Design language | docs/design-language.md |
License
MIT
Extension points exported contracts — how you extend this code
Tool (Interface)Trait for tool implementations. [3 implementers]
bvr/firmware/crates/tools/src/lib.rs
Role (Interface)
Trait for tool role implementations. [1 implementers]
mcu/bins/esp32s3-eth/src/roles/mod.rs
AccumulatedCloudState (Interface)
Internal store state.
depot/console/src/lib/accumulatedCloudStore.ts
ButtonProps (Interface)
(no doc)
design/components/Button.tsx
VocalParams (Interface)
(no doc)
design/site/src/lib/synth.ts
HeaderProps (Interface)
(no doc)
web/src/components/layout/Header.tsx
FadeTransitionProps (Interface)
(no doc)
video/src/components/transitions/FadeTransition.tsx
Policy (Interface)
Trait for policy inference (allows mocking in tests) [2 implementers]
bvr/firmware/crates/control-loop/src/autonomous_controller.rs
Core symbols most depended-on inside this repo
getObjectcalled by 1139
depot/console/public/rerun/re_viewer.js
push
called by 303
bvr/firmware/crates/metrics/src/lib.rs
len
called by 264
bvr/firmware/crates/planner/src/lib.rs
addHeapObject
called by 235
depot/console/public/rerun/re_viewer.js
iter
called by 146
bvr/firmware/crates/tools/src/discovery.rs
handleError
called by 134
depot/console/public/rerun/re_viewer.js
getStringFromWasm0
called by 98
depot/console/public/rerun/re_viewer.js
getDataViewMemory0
called by 95
depot/console/public/rerun/re_viewer.js
Shape
Languages
Rust73%
TypeScript25%
Python2%
Modules by API surface
depot/console/public/rerun/re_viewer.js90 symbols
bvr/firmware/crates/costmap/src/lib.rs75 symbols
bvr/firmware/crates/planner/src/lib.rs62 symbols
bvr/firmware/crates/can/src/vesc.rs60 symbols
depot/dispatch/src/main.rs56 symbols
bvr/firmware/crates/policy/src/lib.rs55 symbols
depot/console/src/components/ui/map.tsx54 symbols
bvr/cad/src/parts/uumotor.rs50 symbols
bvr/firmware/crates/costmap/src/clustering.rs47 symbols
bvr/firmware/crates/slam/src/lib.rs46 symbols
bvr/firmware/bins/cli/src/gps.rs46 symbols
bvr/cad/src/parts/shell.rs46 symbols