Modules

What is a Module?

The iBOAR system is organized into independent modules (services) that each handle a specific aspect of the robot’s behavior.
Modules communicate using MQTT (Message Queue Telemetry Transport) - a lightweight publish/subscribe messaging protocol.

• Each module can be developed, tested, and deployed independently.
• Modules communicate by publishing or subscribing to MQTT topics.
• This architecture allows flexibility, fault tolerance, and scalability.

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Available Modules

Click on a module below to see its documentation, setup, and usage instructions:

• MQTT Broker (Mosquitto)
• API Service
• Motor Controller
• Lidar Controller
• Navigation Service

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Dependencies

• Linux (tested on Arch)
• MQTT Broker: Mosquitto
• C++ build tools
• Java, Maven, Spring Boot
• RPLIDAR SDK

Tip

The first setup script installs all the dependencies automatically.

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Conventions

• Always start the MQTT Broker first, then start individual modules.
• Use named screen sessions so that utility scripts (like stop.sh) can manage them correctly.
• Each module page provides basic commands for build, run, test, and stop.
• Every dependency is autocratically installed by the setup.sh script

Tip

There are scripts which automate the start and stop process.