ROS on Freerunner
Jiří Pinkava
Jiri.Pinkava at vscht.cz
Tue Apr 19 15:49:38 CEST 2011
Dne 19.4.2011 10:55, Jan Tuennermann napsal(a):
> I think ROS would not be a benefit for the OpenMoko as a phone, it makes
> it very attractive for application in robotics or other controlling
> applications.
>
> The minimal processing power is a problem when compiling. Compiling the
> base system took a whole night and when ever I compile a new ROS
> package, ROS will automatically compile any packages the wanted want
> depends on and make the phone unusable for hours while compiling. I
> think I need to look into cross-compiling.
Cross-compiling might be painfull, suggest use of qemu on powerfull machine.
>
> I also think there are some optimizations on the ROS side possible. For
> example, there is a lot of logging going on. I think it can be turned
> off...
>
> A slim linux would be good, but it must be ensured that all the base
> dependencies can be satisfied (boots, OpenCV, etc.). Also one of the
> advantages of ROS is, that there are thousands of communities packages
> available that have individual dependencies. For example, the
> gpsd_pacakges I tried to install will tell the rosmake tool that it
> depends on gpsd and (on debian) it will automatically you apt-get to
> pull and install the package. (However, this did not work for unknown
> reasons on the QtMoko installation, which I had switched to debian
> squeeze source).
> I also needed to override the OS identifcation with an environment
> variable 'export ROS_OS_OVERRIDE=debian:squeeze', because QtMoko was
> providing some other identification.
>
> So I think it should use the debian repos, to make as many packages
> available as possible.
>
> A good thing would be a pre-compiled version already installed properly
> in the file system ready to copy on SD, boot and go! All the phone
> functionality could be stripped out, just starting a blank Xserver where
> graphical ROS-nodes can show there widgets. I would have one phone SD
> and one robot SD card then, and never again the phone would ring while
> it drives around on the robot ;)
>
> Jan
>
>
>
> Am 19.04.2011 10:27, schrieb RANJAN:
>> Will be really an awesome and exciting idea..But having to port it
>> properly and use the minimal processing power on FR and to decide
>> whether one should design a minimal linux specifically to support ROS
>> etc would be some key points to begin with..
>>
>> Sincerely
>> Ranjan
>>
>> On Tue, Apr 19, 2011 at 1:10 AM, Dr. H. Nikolaus Schaller
>> <hns at goldelico.com <mailto:hns at goldelico.com>> wrote:
>>
>> I think this can also be of interest to the Openmoko community.
>>
>>
>> Am 19.04.2011 um 09:46 schrieb Jan Tuennermann:
>>
>>> Ron,
>>>
>>> thanks for forwarding. ROS (Robot Operating System) is a kind of
>>> meta operating system. It does not really handle OS functions,
>>> also it is not real time. It's a great concept that boosts
>>> development in the robotic area. It is based on a publisher /
>>> subscriber paradigm; you implement your software as node which
>>> will publish and receive messages. For example, if you wrap a
>>> face detection algorithm or something in a ROS-node, it would
>>> subscribe to image messages and probably publish a custom message
>>> with coordinates of a face, or maybe another image with the face
>>> marked. This node can now receive images from any node that
>>> publishes images. For example, a webcam-node. Or a node that
>>> loads test-data from hard drive or maybe from a 3D-Simulator.
>>> Also, there are a lot of components that already come with ROS.
>>> So if we wanted to display the image with the face marked in it,
>>> we would just need to make an image_view node (comes with ROS) to
>>> subscribe our images. More complex components can display 3D
>>> point-clouds (for example from a laser range finder), etc. ROS
>>> nodes register with a master and they don't need to be on the
>>> same machine, as they can communicate over network.
>>>
>>> Right now I'm trying to get a gpsd_client node to run on the
>>> OpenMoko. On a remote PC a gpsd_viewer node will run, subscribing
>>> gpsFix messages which it will use to display the Moko's location
>>> in a map from the OpenStreetMap project. I'm planning to connect
>>> the Moko to a micro- controler which then controls a RC-car. I
>>> tested this before, so I'm optimistic that I will get it working.
>>> When it works I might add a X-Box kinnect, which is already
>>> supported by ROS to capture 2D and 3D visual information to
>>> enable the RC-car for autonomous driving.
>>>
>>> best regards,
>>> Jan
>>>
>>>
>>>
>>>
>>>
>>> Am 19.04.2011 01:14, schrieb Ron K. Jeffries:
>>>> sending this item along seen on the ROS list.
>>>>
>>>> Not sure if OpenMoko folks have already seen it.
>>>>
>>>> A future board similar to SIE nee SAKC would
>>>> benefit from a real time OS. This one [ROS]
>>>> appears to be open and free and widely supported.
>>>>
>>>> ---------- Forwarded message ----------
>>>> From: Jan Tuennermann <tuennermann at get.uni-paderborn.de
>>>> <mailto:tuennermann at get.uni-paderborn.de>>
>>>> To: ros-users at code.ros.org <mailto:ros-users at code.ros.org>
>>>> Date: Mon, 18 Apr 2011 09:28:02 +0200
>>>> Subject: [ros-users] ROS running on Neo Freerunner
>>>> Hi everyone,
>>>>
>>>> I spent some time on the weekend to get ROS diamondback running
>>>> on the OpenMoko smart phone Neo Freerunner. With it's WiFi, GPS,
>>>> Accelerometers and Linux capabilities it might be an alternative
>>>> for robot projects where a netbook is to large or to heavy.
>>>>
>>>> I put an installation guide here: http://www.ros.org/wiki/freerunner
>>>>
>>>> I was not really sure where to put it, as it is not really a
>>>> tutorial and also no stack description. So if the place is
>>>> inappropriate, it would be nice if someone could move it.
>>>>
>>>> Jan
>>>>
>>>> ---
>>>> Ron K. Jeffries
>>>> http://ronkjeffries.pen.io <http://ronkjeffries.pen.io/>
>>>>
>>>>
>>>>
>>>>
>>>
>>>
>>> --
>>> M.Sc. Jan T U E N N E R M A N N _________________________________
>>>
>>> University of Paderborn
>>>
>>> Faculty of Computer Science
>>> Electrical Engineering and Mathematics
>>> GET Lab
>>>
>>> phone: +49/ (0)5251/ 60 - 2219 Pohlweg 47-49
>>> fax: +49/ (0)5251/ 60 - 3238 D-33098 Paderborn
>>>
>>> Faculty of Cultural Sciences
>>> Department of Psychology
>>> PsyLab
>>>
>>> phone: +49/ (0)5251/ 60 - 2907 Warburger Straße 100
>>> fax: +49/ (0)5251/ 60 - 3528 D-33098 Paderborn
>>>
>>> email:tuennermann at get.uni-paderborn.de <mailto:tuennermann at get.uni-paderborn.de>
>>>
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>>
>>
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>>
>>
>
>
> --
> M.Sc. Jan T U E N N E R M A N N _________________________________
>
> University of Paderborn
>
> Faculty of Computer Science
> Electrical Engineering and Mathematics
> GET Lab
>
> phone: +49/ (0)5251/ 60 - 2219 Pohlweg 47-49
> fax: +49/ (0)5251/ 60 - 3238 D-33098 Paderborn
>
> Faculty of Cultural Sciences
> Department of Psychology
> PsyLab
>
> phone: +49/ (0)5251/ 60 - 2907 Warburger Straße 100
> fax: +49/ (0)5251/ 60 - 3528 D-33098 Paderborn
>
> email:tuennermann at get.uni-paderborn.de
>
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