[ros-users] Use cases for ROS on ARM based computers

[blackstag]

I have done some work with rpi and base ros package will run groovy on
it soon once i switch everything else over. I stopped on that one due
to the crazy usb issues i was running into. I have also started the
same work on the cubieboard which runs a allwinner a10 that we did
back in May with rpi. With the smaller systems we have been using
rosserial and looking to use a more embedded option in the future
following the sig for that. I have also started work on the odroid
quad core samsung processor. Once I have them building I will document
it on the wiki. It is good to see WG is looking to work in this
direction

Jason

On Sat, Jan 12, 2013 at 6:39 PM, Bil Morris <bill at iheartengineering.com> wrote:
> We have been evaluating Embedded/ARM based platforms, our main areas of
> interest at the moment are OpenWRT based routers, Android hardware
> running Ubuntu [1] / (De|Rasp)bian [2], Raspberry Pi and the BeagleBone.
>
> On the Debian side it looks like it should be feasible [3] to build
> multi-arch binaries [4] to handle most Arm platforms. For systems with
> limited storage, the opkg [5] format may be useful.
> ARM binaries for ROS and bloom cross compile automation would be really
> helpful to speed up development.
>
> For the OpenWRT router, we were originally planning on using rosjs[6]
> for robot management, but being able to run a full install of ROS on the
> router opens up some interesting possibilities for integrating robot
> status indicators. Given it's position in the network it may make sense
> as a place accumulate local information. One example of this is where
> there are multiple shared docking stations and a robot may want to check
> if a dock is available before driving towards it. It may also be worth
> looking at running something like multi-master bridging on the router
> itself.
>
> The Nexus 7/Ubuntu tablet is part of what we are thinking about for
> human robot interaction and part of our development planning for the
> TurtleBot as we currently believe that by mid 2014 a currently
> non-existent Tegra 5 should be able to achieve reasonable (YMMV)
> performance working with point clouds and 3D sensors.
>
> We have been evaluating the BeagleBone and the Raspberry Pi for some
> computer vision applications such as loading and unloading robots. The
> BeagleBone seems to have a little better hardware for what we need [7],
> however the Raspberry Pi is lower cost and seems to be somewhat popular [8].
>
> I'm not sure about the hardware requirements, but one thing I'm thinking
> about adding to our to do list is an ARM system that just runs rviz/rqt
> on a huge TV with a webpage or rosservice api to manage the subscribed
> topics.
>
> Bill
>
> [1] https://wiki.ubuntu.com/Nexus7
> [2] http://apc.io/order/
> [3] https://launchpad.net/ubuntu/precise/armhf
> https://launchpad.net/ubuntu/precise/armel
> http://ports.ubuntu.com/ubuntu-ports/dists/precise/
> [4]
> http://www.cnx-software.com/2012/05/02/getting-started-with-multiarch-armel-armhf-in-ubuntu/
> [5] https://code.google.com/p/opkg/
> [6] http://www.ros.org/wiki/rosjs
> [7]
> http://section9.choamco.com/2012/07/beagleboard-vs-beagleboard-xm-beaglebone-vs-raspberry-pi/
> [8] http://www.raspberrypi.org/archives/3011
>
> On 01/12/2013 04:10 PM, Tully Foote wrote:
>> Hi Everyone,
>>
>> There has been quite a bit of interest in running ROS on ARM
>> architecture processors. I know of many people using ROS on ARM
>> processors.  There is now instructions for installing ROS on the
>> Raspberry Pi [1] [2] form source.  Thanks to everyone who's
>> contributed to those installation instructions.
>>
>> There are lots of additional steps possible for the Raspberry Pi
>> specifically, such as extending the debian package buiding
>> infrastructure to support armhf or developing good instructions for
>> cross compiling. (Compiling natively is slow but simpler.)
>>
>> Likewise I'm aware of several people using ROS on other ARM based
>> platforms such as Gumstix, BeagleBoards and PandaBoards as well as
>> others.
>>
>> With the number of people using ROS on these processors it would be
>> great to share with the community what people are working on and where
>> they would like to see things go forward.
>>
>> This might develop into it's own SIG going forward or potentially join
>> the embedded SIG. [3]
>>
>> So if anyone is using ROS on ARM or would like to do so.  Please share
>> your use case(s) and hopefully we can get a group of people together
>> to collaborate to build up support for ROS on ARM.
>>
>> Tully
>>
>> [1] http://www.ros.org/wiki/groovy/Installation/Raspbian/Source
>> [2] http://ros.org/wiki/ROSberryPi/Setting%20up%20ROS%20on%20RaspberryPi
>> [3] http://www.ros.org/wiki/sig/Embedded
>>
>>
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