Open-source municipal robotics. Autonomous utility vehicles for public works, starting with sidewalk snow removal.
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
┌─────────────────────────────────────────────────────────────────────────────┐
│ 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 │ │
│ └───────┘ └───────┘ └───────┘ └───────┘ └───────┘ │
└─────────────────────────────────────────────────────────────────────────────┘
cd depot
docker compose up -dConsole at http://localhost. See depot/README.md.
cd bvr/firmware
cargo build --release
./deploy.sh <rover-hostname>cd mcu
cargo build --release -p rover-leds
picotool load target/thumbv8m.main-none-eabihf/release/rover-leds -t elf -fSee mcu/README.md.
| 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 |
MIT