[ros-users] ROS on NXT

[Alex Bravo]

I don't want to discourage anybody from trying to run ROS itself on NXT,
but IMHO there's just not enough processing power and memory in it.
Optimizing Bluetooth communicaton and leaving all the heavy lifting to
a Ubuntu laptop running ROS is probably the best that can be done.
Lego.com has Bluetooth Developer Kit that should help:
http://mindstorms.lego.com/en-us/support/files/default.aspx#Advanced

Alex

Look what's inside of NXT (
http://mindstormsnxt.blogspot.com/2006/08/whats-inside-nxt-brick.html):

The full hardware specs as released by LEGO are as follows:

   - Main processor: Atmel® 32-bit ARM® processor, AT91SAM7S256
      - - 256 KB FLASH
    - - 64 KB RAM
    - - 48 MHz
   - Co-processor: Atmel® 8-bit AVR processor, ATmega48
      - - 4 KB FLASH
    - - 512 Byte RAM
    - - 8 MHz
   - Bluetooth wireless communication CSR BlueCoreTM 4 v2.0 +EDR System
      - - Supporting the Serial Port Profile (SPP)
    - - Internal 47 KByte RAM
    - - External 8 MBit FLASH
    - - 26 MHz



On Wed, Dec 22, 2010 at 9:55 PM, Daniel Stonier <d.stonier at gmail.com> wrote:

>
>
>  On 23 December 2010 14:49, Chris Brown <chrisneilbrown at gmail.com> wrote:
>
>> I looked into using the NXT as a cheap base to start building something on
>> but decided against it as it was a bit limiting
>> I'm currently working on writing a node for a generic USB pwm controller
>> with configurable ports, just attach a cheap atom based m/b
>>
>>
> Indeed, atoms are a smooth entry point to lower level testing/development.
> They and the fact that the smart phones are exposing the arm cpu's to alot
> more linux development are making the process of building robotics software
> alot smoother. There's alot of groups here running on gumstix, that seems to
> be a good option. We've also done some development on lower level arm cores,
> but gumstix seems to be a good lower limit. Any lower than that and you
> start stressing about preserving cycles, particularly if its for commercial
> development.
>
>
>> On Thu, Dec 23, 2010 at 2:41 PM, Tully Foote <tfoote at willowgarage.com>wrote:
>>
>>> Hi Jeroen,
>>>
>>> it definitely would be a much better solution to have ROS running
>>> natively on the brick.  I don't know if it has a full enough featured build
>>> environment to run there.  However there is a project for cross compiling
>>> ROS onto embedded platforms hopefully some of their tools would be helpful
>>> if you wanted to try.  See http://www.ros.org/wiki/eros
>>>
>>> Tully
>>>
>>>
>>>   On Tue, Dec 21, 2010 at 2:44 AM, Jeroen Willems <
>>> jjpa.willems at gmail.com> wrote:
>>>
>>>>  Hi,
>>>>
>>>> I was wondering if there are any plans (cross-compiler?) such that ROS
>>>> can run on the NXT bricks ?
>>>>
>>>> Currently RCX bricks are used for a course Embedded Motion Control using
>>>> brickOS.
>>>> We would like to switch to the NXT bricks. Furthermore we want to set up
>>>> the course such that students can get familiar with ROS.
>>>>
>>>> It would be great if the software can run on the brick itself so that we
>>>> do not need an USB-cable. Bluetooth is not an option because of the high
>>>> latency.
>>>>
>>>> Thanks Jeroen
>>>>
>>>> _______________________________________________
>>>> ros-users mailing list
>>>> ros-users at code.ros.org
>>>> https://code.ros.org/mailman/listinfo/ros-users
>>>>
>>>>
>>>
>>>
>>> --
>>> Tully Foote
>>> Systems Engineer
>>> Willow Garage, Inc.
>>> tfoote at willowgarage.com
>>> (650) 475-2827
>>>
>>> _______________________________________________
>>> ros-users mailing list
>>> ros-users at code.ros.org
>>> https://code.ros.org/mailman/listinfo/ros-users
>>>
>>>
>>
>>
>> --
>> Chris
>> Aluminium Replacement Parts <http://arp.chrisb.id.au/>
>> @arpartsau <http://twitter.com/arpartsau>
>>
>>
>>
>> _______________________________________________
>> ros-users mailing list
>> ros-users at 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 at code.ros.org
> https://code.ros.org/mailman/listinfo/ros-users
>
>
-------------- next part --------------
An HTML attachment was scrubbed...
URL: <http://lists.ros.org/pipermail/ros-users/attachments/20101223/262df94a/attachment-0003.html>