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 > >