Phoxal Components

The Phoxal catalog components as one coherent workspace — the sensors, actuators, and structural parts that robot manifests mount. Each component is a subdirectory carrying its hardware-facing driver crate plus the manifest data the framework consumes:

<name>/
  component.yaml      # capabilities, GTIN, driver requirements
  structure.urdf      # the component's physical shape
  simulation.yaml     # sim-side hints
  src/                # the driver crate (native, host-side)
  Cargo.toml          # workspace member

Components

Component	Part
bno085	BNO085 IMU (accelerometer + gyroscope + fused orientation)
ddsm115	DDSM115 direct-drive wheel motor (CAN)
oak_d_lite	Luxonis OAK-D Lite RGB-D camera
vl53l1x	VL53L1X single-beam time-of-flight rangefinder
zed_f9p	u-blox ZED-F9P GNSS receiver

Consuming a component

A robot manifest references a catalog component through components.sources, selecting the subdirectory with directory:

components:
  sources:
    bno085:
      git: "https://github.com/phoxal/components"
      tag: "main"
      directory: "bno085"

phoxal-cli resolves the git ref to a commit in phoxal.lock, clones this repository once, and stages the selected component's definition. During recovery the ref is the mutable main branch (the lockfile pins the exact commit SHA for reproducibility); this repository has no release CI cutting version tags, and its version line is independent of phoxal/framework.

Health check

cargo check --workspace

License

AGPL-3.0-only — see LICENSE for the full license text. A commercial license is available — see COMMERCIAL.md and reach out via https://phoxal.com.

Contributing

See CONTRIBUTING.md. DCO sign-off required on every commit.

Phoxal

• https://phoxal.com
• https://github.com/phoxal