In this case, maybe you could be interested in running ASEBA (http://mobots.epfl.ch/aseba.php) on the embedded system. ASEBA is a very small communication layer, originally developped to run on/communicate with micro-controllers. We have developped a ROS-ASEBA bridge that you could run on your control station to export all your system variables. http://www.ros.org/wiki/ethzasl_aseba HTH On Fri, May 6, 2011 at 10:15 AM, qiang yu wrote: > Thank you for your suggestion. My problem is lack of C++ or even C > libraries. The embedded OS I chosen is NuttX, just provide basic POSIX > thread and socket library, no C++ libraries. If I want a full roscpp to run, > I have to port some libraries you mentioned to NuttX. So I prefer a light > weight pure C or no C++ library using ROS client. Do you know some already > published work about this? > > Regards, > Yu Qiang > > > On Fri, May 6, 2011 at 12:31 PM, Daniel Stonier wrote: >> >> >> 2011/5/5 qiang yu >>> >>> As I know EROS is for cross compiling ROS to a powerful embedded board >>> which already running some powerful OSes (like Linux). There is no light >>> weight ROS client for less-powerful embedded boards. I used to look for one >>> too. But now I plan to port one in C myself. >> >> You don't need a full distro to run ros, we've installed it to something >> as small as a custom busybox based system. The only requirements for getting >> a basic system up and running with ros messaging for custom embedded >> software are the c/c++ libs, the apache libs (apr, apr_util, log4cxx) and >> boost. Certainly doesn't need a powerful distro. >> Eros just provides tools for doing that (and if something's missing that >> you need, please suggest or incorporate it so others can take advantage of >> it too). >> Nonetheless, roscpp and those logging libraries are sometimes more than >> you need/want on a really tiny board and we're quite partial to the idea of >> a light version of roscpp for the excruciatingly embedded. Morten Kjaergaard >> experimented with developing a light version of roscpp setting up pubsubs >> and using only boost asio (for tcp/ip sockets), xmlrpc (fpr ros master >> connections) and just printf style logging. You can find that in the >> roscpplight package in eros (trunk). That might be good as a starting point >> or even better, flesh out a design and collaborate on this. >> You could probably even drop boost asio if you wished, though short term >> its convenient to help speed up development and may actually be better in >> the long run. We've also talked about is using syslog for logging. Troy has >> also talked about different registration mechanisms to xmlrpcpp (aka >> zeroconf), but thats a change that can't be isolated to a light version of >> roscpp. >> >> >> >> >> >> >> >>> >>> 2011/5/5 Yu Bin >>>> >>>> Dear all， >>>> I have find some information on the website below. >>>> http://www.ros.org/wiki/eros >>>> Thanks all the same. >>>> rgds >>>> Yu Bin >>>> 在 2011年5月5日 下午8:09，Yu Bin 写道： >>>>> >>>>> Dear all, >>>>> Most robot using ROS under ubuntu or other PC systems. >>>>> I had a question, can ROS run on a embedded system？Are there examples >>>>> of the application？ >>>>> Please give me some suggestions. Thanks a lot. >>>>> rgds,Yu Bin >>>> >>>> >>>> _______________________________________________ >>>> ros-users mailing list >>>> ros-users@code.ros.org >>>> https://code.ros.org/mailman/listinfo/ros-users >>>> >>> >>> >>> _______________________________________________ >>> ros-users mailing list >>> ros-users@code.ros.org >>> https://code.ros.org/mailman/listinfo/ros-users >>> >> >> >> >> -- >> Phone : +82-10-5400-3296 (010-5400-3296) >> Home: http://snorriheim.dnsdojo.com/ >> Yujin Robot: http://www.yujinrobot.com/ >> Embedded Ros : http://www.ros.org/wiki/eros >> Embedded Control Libraries: http://snorriheim.dnsdojo.com/redmine/wiki/ecl >> >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users >> > > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > > -- Cedric Pradalier