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Re: ROS in FIRST ?
The NXT is described as running standard LEGO firmware, so the ROS tools seem to be using it as a drone. The host PC does all the thinking, and via the direct commands that are built into the NXT protocol, ROS directs a motor to turn on or off, reads a sensor, etc. Microsoft Robotics Studio also had NXT support with its tools, though I believe it only supported one model whereas the ROS can load more complex LDD models, and presumably use them more effectively in its steering model, physics modeling, etc.
As for the ROS running on the cRIO, of course it is technically possible. NI Robotics folks have looked into it several times to determine how difficult different levels of ROS support would be and what they would bring to the table. Integration of the LV robotics libraries with ROS would allow for even more tools, but to this point, it hasn't justified the effort.
Greg McKaskle
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