great guys, please put your documentation of trying this onto the wiki. Jon
On Tue, Apr 19, 2011 at 3:55 AM, Jan Tuennermann <[email protected]> wrote: > 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. > > 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 > <[email protected]> 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 <[email protected]> >> To: [email protected] >> 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 >> >> 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: [email protected] >> >> >> _______________________________________________ >> Qi Hardware Discussion List >> Mail to list (members only): [email protected] >> Subscribe or Unsubscribe: >> http://lists.en.qi-hardware.com/mailman/listinfo/discussion >> >> _______________________________________________ >> Openmoko community mailing list >> [email protected] >> http://lists.openmoko.org/mailman/listinfo/community >> > > > > -- > 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: [email protected] > > _______________________________________________ > Qi Hardware Discussion List > Mail to list (members only): [email protected] > Subscribe or Unsubscribe: > http://lists.en.qi-hardware.com/mailman/listinfo/discussion > -- Jon Phillips http://rejon.org/ | http://fabricatorz.com/ chat/skype: kidproto | irc: rejon +1.415.830.3884 (global) | +1-510-499-0894 (sf) +86-187-1003-9974 (beijing) _______________________________________________ Qi Hardware Discussion List Mail to list (members only): [email protected] Subscribe or Unsubscribe: http://lists.en.qi-hardware.com/mailman/listinfo/discussion
