Fwd: ROS on Freerunner

Dr. H. Nikolaus Schaller hns at goldelico.com
Tue Apr 19 10:10:47 CEST 2011


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>
>> To: 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
>> 
>> 
>> 
>> 
> 
> 
> -- 
>  M.Sc. Jan  T U E N N E R M A N N   _________________________________
> 
>                                               University of Paderborn
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