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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.<br>
<br>
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.<br>
<br>
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... <br>
<br>
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).<br>
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.<br>
<br>
So I think it should use the debian repos, to make as many packages
available as possible. <br>
<br>
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 ;)<br>
<br>
Jan<br>
<pre>
</pre>
<br>
<br>
Am 19.04.2011 10:27, schrieb RANJAN:
<blockquote
cite="mid:BANLkTikcRi5aiYNBPV3E_m4rB4yog0JS-w@mail.gmail.com"
type="cite">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..<br>
<br>
Sincerely<br>
Ranjan<br>
<br>
<div class="gmail_quote">On Tue, Apr 19, 2011 at 1:10 AM, Dr. H.
Nikolaus Schaller <span dir="ltr"><<a moz-do-not-send="true"
href="mailto:hns@goldelico.com">hns@goldelico.com</a>></span> wrote:<br>
<blockquote class="gmail_quote"
style="border-left: 1px solid rgb(204, 204, 204); margin: 0pt 0pt 0pt 0.8ex; padding-left: 1ex;">
<div style="word-wrap: break-word;">I think this can also be of
interest to the Openmoko community.
<div><br>
</div>
<div>
<div><br>
<div>
<div>Am 19.04.2011 um 09:46 schrieb Jan Tuennermann:</div>
<br>
<blockquote type="cite">
<div text="#000000" bgcolor="#ffffff">Ron,<br>
<br>
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.<br>
<br>
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. <br>
<br>
best regards,<br>
Jan<br>
<br>
<br>
<br>
<br>
<br>
Am 19.04.2011 01:14, schrieb Ron K. Jeffries:
<blockquote type="cite">sending this item along seen on the ROS
list.
<div><br>
</div>
<div>Not sure if OpenMoko folks have already seen it.</div>
<div><span
style="border-collapse: collapse; font-family: arial,sans-serif; font-size: 13px;"><br>
</span></div>
<div><span
style="border-collapse: collapse; font-family: arial,sans-serif; font-size: 13px;">A
future
board similar to SIE nee SAKC would</span></div>
<div><span
style="border-collapse: collapse; font-family: arial,sans-serif; font-size: 13px;">benefit
from
a real time OS. This one [ROS]</span></div>
<div><span
style="border-collapse: collapse; font-family: arial,sans-serif; font-size: 13px;">appears
to
be open and free and widely supported.</span></div>
<div><span
style="border-collapse: collapse; font-family: arial,sans-serif; font-size: 13px;"><br>
</span></div>
<div><span
style="border-collapse: collapse; font-family: arial,sans-serif; font-size: 13px;">----------
Forwarded
message ----------<br>
From: Jan Tuennermann <<a moz-do-not-send="true"
href="mailto:tuennermann@get.uni-paderborn.de" target="_blank">tuennermann@get.uni-paderborn.de</a>><br>
To: <a moz-do-not-send="true" href="mailto:ros-users@code.ros.org"
target="_blank">ros-users@code.ros.org</a><br>
Date: Mon, 18 Apr 2011 09:28:02 +0200<br>
Subject: [ros-users] ROS running on Neo Freerunner<br>
Hi everyone,<br>
<br>
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.<br>
<br>
I put an installation guide here: <a moz-do-not-send="true"
href="http://www.ros.org/wiki/freerunner"
style="color: rgb(0, 0, 204);" target="_blank">http://www.ros.org/wiki/freerunner</a><br>
<br>
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.<br>
<br>
Jan<br>
<br>
</span></div>
<div>---<br>
Ron K. Jeffries
<div><a moz-do-not-send="true"
href="http://ronkjeffries.pen.io/" target="_blank">http://ronkjeffries.pen.io</a><br>
<br>
<br>
<br>
</div>
<br>
</div>
</blockquote>
<br>
<br>
<pre cols="72">--
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: <a moz-do-not-send="true"
href="mailto:tuennermann@get.uni-paderborn.de" target="_blank">tuennermann@get.uni-paderborn.de</a>
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<pre class="moz-signature" cols="72">--
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: <a class="moz-txt-link-abbreviated" href="mailto:tuennermann@get.uni-paderborn.de">tuennermann@get.uni-paderborn.de</a>
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