Hey guys, I'd like to chime in as well. Here at Yujin we actually have both of the mentioned embedded use cases. For the first - ROS running on a tiny Linux on an (powerful) embedded device - Daniel started the development of EmbeddedROS (http://www.ros.org/wiki/eros) some time ago. Target microcontroller/-processor could be such like the ARM Cortex-A8/9 chips (used on Beagleboard, Pandaboard etc.). In the second use case - let's say ROS on bare-metal embedded devices - I am currently interested. My target chip is the ARM Cortex-M3. In the long run I'd like to use this device to link our CAN network with a SBC/PC via Ethernet. Also, this device should act like a native ROS node, meaning that there should be a ROS driver needed on the PC side. I joined the SIG as well and am curious where we can push this! Cheers, Marcus 2012/9/13 Austin Hendrix > I suspect that the hardest parts of getting roscpp to run on a bare-metal > system will be dealing with boost, differences in how embedded vs Linux > handle network sockets, and endianness problems that affect the > serialization process. > > For a number of the embedded devices that I've seen with Ethernet, the > device communicates over UDP or TCP to a ROS node on a Linux host; this > includes the custom ethernet-attached cameras that we use on the PR2. > > -Austin > > > On 09/12/2012 02:39 PM, Dave Curtis wrote: > >> Thanks Tully, >> >> If you have a pointer to some information on that project I'd like to >> look at it. >> >> In the spirit of simply taking a shoe horn to roscpp, I spent a little >> bit of time looking at the roscpp source, it wasn't clear just from >> grep'ing the #include's if there are a lot of kernel dependencies. OTOH, I >> can certainly imagine a lot of dynamic memory allocation going on, which >> can be painful on a system without virtual memory and only a limited amount >> of SRAM to start with. >> >> -dave >> >> On Sep 12, 2012, at 2:22 PM, Tully Foote wrote: >> >> Hi Dave, >>> >>> To answer your question directly I have seen a proof of concept with >>> roscpp running on a bare metal arm chip. I don't know exactly what went >>> into making that work. >>> >>> Morgan, >>> >>> Thanks for taking the initiative to setup the SIG. I've created a wiki >>> page for the SIG at http://www.ros.org/wiki/SIG/**Embedded >>> >>> Tully >>> >>> On Wed, Sep 12, 2012 at 1:56 PM, blackstag wrote: >>> Hah ok will tell Paul to spell right. Is Ros serial using sockets for >>> small embedded linux processors. It was implemented on the Vex Pro and >>> Chumby in our testing. >>> >>> >>> On Wed, Sep 12, 2012 at 2:58 PM, Dave Curtis >>> wrote: >>> OK, so I see the rosserial_embeddedlinux package supports TCP, I didn't >>> see that before. But it does say "imbedded Linux", which is still >>> considerably different from an MMU-less uCtlr. So, is >>> rosserial_embeddedlinux more light weight than its name would imply? >>> >>> -dave >>> >>> On Sep 12, 2012, at 11:43 AM, blackstag wrote: >>> >>> Ros serial does have a TCP option now for wifi or ethernet. >>>> >>>> On Wed, Sep 12, 2012 at 1:14 PM, Dave Curtis >>>> wrote: >>>> I've been searching the archives for info on this topic but everything >>>> I turn up is pretty ancient. >>>> >>>> Suppose you have an embedded device that has an ethernet controller and >>>> enough oomph to run a TCP stack and an RTOS, for instance an ARM Cortex-M3. >>>> Is it possible to run roscpp on the bare metal, or does roscpp depend on a >>>> lot of Linux system services? Of course, rosserial would be an option, but >>>> if you have an ethernet controller on chip, that seems limiting. Or is >>>> there another light-weight ROS comms on TCP that I don't know about? >>>> >>>> -dave >>>> >>>> ______________________________**_________________ >>>> 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 >>>> >>> ______________________________**_________________ >>> 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 >>> >>> >>> >>> >>> -- >>> Tully Foote >>> tfoote@willowgarage.com >>> (650) 475-2827 >>> ______________________________**_________________ >>> 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 >> > > ______________________________**_________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/**listinfo/ros-users > > > -- Marcus Liebhardt Control Engineer Yujin Robot 주소: 대한민국 서울시 금천구 가산동 345-30 남성프라자 #601, 153-023. Address: Door #601, Namsung-Plaza, 345-30 Gasan-dong, Guemcheon-gu, Seoul, 153-023, Republic of Korea Website: http://www.yujinrobot.com Email: marcus.liebhardt@yujinrobot.com Phone: +82-2-2104-0435