{"id":41653941,"url":"https://github.com/ecto/muni","last_synced_at":"2026-01-24T16:20:32.491Z","repository":{"id":330212910,"uuid":"1119720430","full_name":"ecto/muni","owner":"ecto","description":"Municipal Robotics","archived":false,"fork":false,"pushed_at":"2026-01-23T05:35:06.000Z","size":95108,"stargazers_count":6,"open_issues_count":1,"forks_count":1,"subscribers_count":0,"default_branch":"main","last_synced_at":"2026-01-23T13:16:41.042Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":"https://muni.works","language":"Rust","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/ecto.png","metadata":{"files":{"readme":"README.md","changelog":"CHANGELOG.md","contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null,"notice":null,"maintainers":null,"copyright":null,"agents":null,"dco":null,"cla":null}},"created_at":"2025-12-19T18:23:28.000Z","updated_at":"2026-01-23T03:59:14.000Z","dependencies_parsed_at":null,"dependency_job_id":null,"html_url":"https://github.com/ecto/muni","commit_stats":null,"previous_names":["ecto/muni"],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/ecto/muni","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ecto%2Fmuni","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ecto%2Fmuni/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ecto%2Fmuni/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ecto%2Fmuni/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/ecto","download_url":"https://codeload.github.com/ecto/muni/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/ecto%2Fmuni/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":28731224,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-01-24T10:24:43.181Z","status":"ssl_error","status_checked_at":"2026-01-24T10:24:36.112Z","response_time":89,"last_error":"SSL_read: unexpected eof while reading","robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":false,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2026-01-24T16:20:29.279Z","updated_at":"2026-01-24T16:20:32.480Z","avatar_url":"https://github.com/ecto.png","language":"Rust","funding_links":[],"categories":[],"sub_categories":[],"readme":"\u003cpicture\u003e\n  \u003csource media=\"(prefers-color-scheme: dark)\" srcset=\"web/public/images/muni-logo-dark.svg\"\u003e\n  \u003csource media=\"(prefers-color-scheme: light)\" srcset=\"web/public/images/muni-logo-light.svg\"\u003e\n  \u003cimg alt=\"muni\" src=\"web/public/images/muni-logo-light.svg\" width=\"120\"\u003e\n\u003c/picture\u003e\n\nOpen-source municipal robotics. Autonomous utility vehicles for public works, starting with sidewalk snow removal.\n\n\u003cimg src=\"web/public/images/bvr1.png\" alt=\"BVR rover with plow attachment\" width=\"600\"\u003e\n\n## Repository\n\n```\nmuni/\n├── bvr/              # Base Vectoring Rover (first morphology)\n│   ├── firmware/     # Onboard software (Jetson Orin NX, Rust)\n│   ├── cad/          # Mechanical design\n│   ├── electrical/   # Schematics, PCBs\n│   └── docs/         # BVR-specific documentation\n├── depot/            # Base station (fleet ops, teleop, metrics)\n├── mcu/              # Embedded firmware (RP2350, ESP32-S3)\n├── paper/            # Technical documents (Typst)\n└── web/              # Website\n```\n\n## Architecture\n\n```\n┌─────────────────────────────────────────────────────────────────────────────┐\n│ Depot (Base Station)                                                        │\n│                                                                             │\n│   Console (:80)     Grafana (:3000)     InfluxDB        SFTP (:2222)       │\n│   Fleet ops         Dashboards          Metrics DB      Session storage    │\n│   Teleop UI         Alerts              Time series     Recording sync     │\n└───────────────────────────────────┬─────────────────────────────────────────┘\n                                    │\n                        UDP metrics │ WebSocket teleop\n                        SFTP sync   │ RTK corrections\n                                    │\n┌───────────────────────────────────┴─────────────────────────────────────────┐\n│ BVR Rover                                                                   │\n│                                                                             │\n│   ┌─────────────────────────────────────────────────────────────────────┐  │\n│   │ Jetson Orin NX                                                      │  │\n│   │                                                                     │  │\n│   │   bvrd (main daemon)                                                │  │\n│   │   ├── teleop     Commands, telemetry, video streaming              │  │\n│   │   ├── control    Differential drive mixer, rate limiting           │  │\n│   │   ├── state      Mode management, safety interlocks                │  │\n│   │   ├── gps        RTK positioning                                   │  │\n│   │   └── recording  Session capture to .rrd files                     │  │\n│   └───────────────────────────────┬─────────────────────────────────────┘  │\n│                                   │ CAN bus                                 │\n│       ┌───────────┬───────────────┼───────────────┬───────────────┐        │\n│       │           │               │               │               │        │\n│   ┌───┴───┐   ┌───┴───┐       ┌───┴───┐       ┌───┴───┐       ┌───┴───┐   │\n│   │ VESC  │   │ VESC  │       │ VESC  │       │ VESC  │       │  MCU  │   │\n│   │  FL   │   │  FR   │       │  RL   │       │  RR   │       │ LEDs  │   │\n│   └───────┘   └───────┘       └───────┘       └───────┘       └───────┘   │\n└─────────────────────────────────────────────────────────────────────────────┘\n```\n\n## Quick Start\n\n### Base Station\n\n```bash\ncd depot\ndocker compose up -d\n```\n\nConsole at http://localhost. See [depot/README.md](depot/README.md).\n\n### BVR Firmware\n\n```bash\ncd bvr/firmware\ncargo build --release\n./deploy.sh \u003crover-hostname\u003e\n```\n\nSee [bvr/firmware/README.md](bvr/firmware/README.md).\n\n### MCU Firmware\n\n```bash\ncd mcu\ncargo build --release -p rover-leds\npicotool load target/thumbv8m.main-none-eabihf/release/rover-leds -t elf -f\n```\n\nSee [mcu/README.md](mcu/README.md).\n\n## Documentation\n\n| Topic               | Link                                                 |\n| ------------------- | ---------------------------------------------------- |\n| System architecture | [bvr/docs/architecture.md](bvr/docs/architecture.md) |\n| Hardware BOM        | [docs/hardware/bom.md](docs/hardware/bom.md)         |\n| RTK GPS setup       | [docs/hardware/rtk.md](docs/hardware/rtk.md)         |\n| Teleop system       | [bvr/docs/teleop.md](bvr/docs/teleop.md)             |\n| Design language     | [docs/design-language.md](docs/design-language.md)   |\n\n## License\n\nMIT\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fecto%2Fmuni","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fecto%2Fmuni","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fecto%2Fmuni/lists"}