[ros-users] roscpp on embedded devices with ethernet?

[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 <blackstag at gmail.com> 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 <dave at dave-curtis.com> 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 <dave at dave-curtis.com> 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
>>>
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>> -- 
>> Tully Foote
>> tfoote at willowgarage.com
>> (650) 475-2827
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