Rover Embassy Control System

Welcome to the Rover Embassy Control System documentation! This is a modular, async rover control system built with Rust and Tokio, implementing a complete control architecture with 20+ modules communicating via channels.

Overview

Rover Embassy is a sophisticated control system designed for autonomous rovers. It implements a layered architecture that processes sensor data, plans missions, avoids obstacles, and executes behaviors while maintaining safety throughout the operation.

Key Features

• Modular Architecture: 20+ independent modules organized into logical layers
• Async/Await: Built on Tokio for efficient concurrent processing
• Channel-based Communication: Type-safe message passing between modules
• MCAP Logging: Structured logging compatible with Foxglove Studio
• Safety First: Multi-layer safety validation before hardware commands
• Graceful Shutdown: Clean termination with proper resource cleanup

Quick Start

# Build the project
cargo build --release

# Run the system
cargo run --release

# Press 'q' to shutdown gracefully

Important

Always press 'q' to quit for proper MCAP file finalization and indexing. Do not use Ctrl+C or kill the process.

Architecture Layers

The system is organized into four main layers:

1. Input Layer - Sensor data, user commands, and hardware status
2. Core Processing - Environment understanding, planning, and state management
3. Behavior & Safety - Action execution and safety validation
4. Output Layer - Hardware control and user feedback

See the Architecture page for detailed information and visual diagrams.

Documentation Structure

• Getting Started - Installation and first steps
• Architecture - System design and module interactions
• Modules Reference - Detailed documentation for each module
• MCAP Indexing - Understanding MCAP file structure and indexing

Project Status

This is a working implementation with all core modules functional. The system includes:

• ✅ All 20 modules implemented
• ✅ Simulated sensor data generation
• ✅ Command flow from user input to hardware
• ✅ Bidirectional communication between modules
• ✅ Safety checks and validation
• ✅ System-wide logging to MCAP files

Contributing

This project is designed to be extensible. Future enhancements could include:

• Real hardware integration
• Advanced path planning algorithms
• Machine learning for environment understanding
• Network-based remote control
• Configuration file support

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Version: 0.1.0