https://github.com/ecto/muni
Municipal Robotics
https://github.com/ecto/muni
Last synced: 5 months ago
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Municipal Robotics
- Host: GitHub
- URL: https://github.com/ecto/muni
- Owner: ecto
- Created: 2025-12-19T18:23:28.000Z (6 months ago)
- Default Branch: main
- Last Pushed: 2026-01-23T05:35:06.000Z (5 months ago)
- Last Synced: 2026-01-23T13:16:41.042Z (5 months ago)
- Language: Rust
- Homepage: https://muni.works
- Size: 90.7 MB
- Stars: 6
- Watchers: 0
- Forks: 1
- Open Issues: 1
-
Metadata Files:
- Readme: README.md
- Changelog: CHANGELOG.md
Awesome Lists containing this project
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
```bash
cd depot
docker compose up -d
```
Console at http://localhost. See [depot/README.md](depot/README.md).
### BVR Firmware
```bash
cd bvr/firmware
cargo build --release
./deploy.sh
```
See [bvr/firmware/README.md](bvr/firmware/README.md).
### MCU Firmware
```bash
cd mcu
cargo build --release -p rover-leds
picotool load target/thumbv8m.main-none-eabihf/release/rover-leds -t elf -f
```
See [mcu/README.md](mcu/README.md).
## Documentation
| Topic | Link |
| ------------------- | ---------------------------------------------------- |
| System architecture | [bvr/docs/architecture.md](bvr/docs/architecture.md) |
| Hardware BOM | [docs/hardware/bom.md](docs/hardware/bom.md) |
| RTK GPS setup | [docs/hardware/rtk.md](docs/hardware/rtk.md) |
| Teleop system | [bvr/docs/teleop.md](bvr/docs/teleop.md) |
| Design language | [docs/design-language.md](docs/design-language.md) |
## License
MIT