[ros-users] Can ROS run on a embedded system?

[qiang yu]

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 <d.stonier at gmail.com> wrote:

>
>
> 2011/5/5 qiang yu <yuq825 at gmail.com>
>
>> 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 <master.yubin at gmail.com>
>>
>>>  Dear all，
>>> I have find some information on the website below.
>>> http://www.ros.org/wiki/eros
>>> <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 <master.yubin at gmail.com>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
>>>>
>>>
>>>
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>>>
>>
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>
>
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