This guide assumes you’ve read the core concepts section. If you haven’t, we recommend doing so before continuing.

​
Create an Account

If you don’t already have an account, navigate to the sign up page and follow the instructions.

​
Clone the Starter Repository

Clone the getting-started repository.

git clone https://github.com/miruml/getting-started.git

You’ll find the following directories in the repository:

This is just an example structure - schemas and instances can be located anywhere.

​
Mobility Config Type

For the remainder of this guide, the Mobility config type is used as an example.

The /schemas/mobility.schema.yaml defines the config schema for the Mobility config type. It includes key parameters such as:

  • Maximum linear and angular speeds
  • Obstacle avoidance settings
  • Navigation mode selection
  • Telemetry intervals
mobility.schema.yaml
$miru_config_type_slug: "mobility"
$schema: "https://json-schema.org/draft/2020-12/schema"
title: Mobility
type: object
properties:
  max_linear_speed_mps:
    type: number
    minimum: 0.1
    maximum: 5.0
    default: 1.2
  max_angular_speed_radps:
    type: number
    minimum: 0.1
    maximum: 3.0
    default: 1.0
  obstacle_avoidance_enabled:
    type: boolean
    default: true
  navigation_mode:
    type: string
    enum: [conservative, balanced, aggressive]
    default: balanced
  telemetry:
    type: object
    properties:
      upload_interval_sec:
        type: integer
        minimum: 10
        maximum: 300
        default: 60
      heartbeat_interval_sec:
        type: integer
        minimum: 1
        maximum: 60
        default: 10
    required:
      - upload_interval_sec
      - heartbeat_interval_sec
required:
  - max_linear_speed_mps
  - max_angular_speed_radps
  - obstacle_avoidance_enabled
  - navigation_mode
  - telemetry

The /instances/mobility.instance.yaml defines a config instance adhering to the Mobility config schema. This config instance is for development purposes only. Config instances deployed to production robots are defined in the Miru dashboard, not in a git repository.

mobility.instance.yaml
max_linear_speed_mps: 1.2
max_angular_speed_radps: 1.0
obstacle_avoidance_enabled: true
navigation_mode: balanced
telemetry:
  upload_interval_sec: 60
  heartbeat_interval_sec: 10