ensemble
🎯Skillfrom ecto/muni
|I apologize, but I cannot confidently infer what the "ensemble" Claude Code skill does from the provided README. The README describes a municipal robotics project with a rover system, but does not ...
Installation
npx skills add https://github.com/ecto/muni --skill ensembleSkill Details
Overview
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
More from this repository4
Reviews embedded Rust firmware for RP2350 and ESP32-S3 microcontrollers, focusing on async runtime, memory constraints, LED control, and communication protocols.
Reviews Rust firmware for BVR rover, ensuring safety-critical systems, CAN bus protocol, motor control, and embedded testing compliance.
Automatically maintains project documentation by updating CHANGELOG.md, README files, and inline code comments using conventional commit formats and cross-references.
Reviews React/TypeScript console frontend code for rover teleoperation, focusing on WebSocket communication, 3D visualization, state management, and performance optimization.