Everything that moves a mobile robot — board, firmware, drivers, messaging, and the algorithms that steer them.
This repository is the umbrella: a thin CMake superbuild that assembles the components (pinned as git submodules under components/) and hosts family-level docs. Every component also stands alone — build, test, and find_package just the ones you need; the umbrella only fixes a known-good combination.
| Component | Role | Repo | |
|---|---|---|---|
| κ | xmBoard | PCB / electronics (KiCAD) | rxdu/xmBoard |
| ζ | xmFirmware | MCU firmware (Zephyr) | rxdu/xmFirmware |
| Σ | xmBase | foundation — logging · ipc · math · common types | rxdu/xmBase |
| τ | xmTelemetry | observability — logs · metrics · traces · black box | private1 |
| μ | xmDriver | host hardware drivers — motor · CAN · serial · modbus · sbus · imu | rxdu/xmDriver |
| ∇ | xmNavigation | motion algorithms — planning · control · estimation · mapping · centerpiece | rxdu/xmNavigation |
| π | xmMessaging | application communication — typed pub/sub · request/response · zero-copy transport | rxdu/xmMessaging |
| γ | xmViewer | visualization | rxdu/quickviz |
| Ψ | xmSimulator | physics simulation — MuJoCo world · sensors · dynamics | rxdu/xmSimulator |
1xmTelemetry — the production observability SDK and tooling — is privately maintained; available for production integrations.
Component names follow ADR 0003; the Greek letters (κ ζ Σ τ μ ∇ γ π Ψ) are retained as logos only — every repo, submodule path, and icon file now carries its functional name. Everything builds on xmBase; dependencies point downward only. Two pairs span the boundary: xmBase/xmDriver on the host, xmFirmware/xmBoard on the embedded target — with xmNavigation the motion-algorithms core.
Per-robot controllers — thin consumers of the stack, each in its own repo: xmBot-Swerve · xmBot-Tracked · xmBot-Legged.
git clone --recurse-submodules https://github.com/rxdu/xmotion.git
cd xmotion
cmake --preset default && cmake --build buildEach submodule is pinned to an exact commit, so clone → configure → build always reproduces a known-good set. Toggle components with -DXMOTION_WITH_<NAME>=ON/OFF.
Decision records · Telemetry design · Brand & icons · Tasks
Apache-2.0 — see LICENSE and NOTICE. Bundled third-party submodules retain their own licenses.