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

[Cedric Pradalier]

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 <yuq825 at gmail.com> 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 <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
>>>> 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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>>
>>
>>
>> --
>> 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
>>
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-- 
Cedric Pradalier