ROS in FIRST ?

[lynca]

I know the Robot Operating System (ROS) topic has been discussed briefly on the forums however the Robotics world is always changing.

Has anyone considered getting the cRio to run ROS client ?

After seeing Lego NXT achieve the ROS hurdle, FRC is definitely a possibility.
http://www.willowgarage.com/blog/201...i-pr2-lego-nxt

If FRC can make the jump, ROS will provide robots with

• Multi-robot autonomous routines
• Enhanced data logging
• sophisticated path planning and obstacle avoidance

Reply to this thread or PM if your interested in starting a software push for ROS on FRC.

[Greg McKaskle]

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

I Just saw this:

http://sine.ni.com/nips/cds/view/p/lang/en/nid/210716


Apparently you can use ROS and a Crio, but I don't know if it is practical to get it working during build season. It is pretty easy to run ROS on a Beaglebone or Pandaboard (any Unbuntu system) - whether it can work with the Driver Station is another matter.

[luc.bettaieb]

As a FRC Alum and an undergrad who uses ROS in robotics research, I fully support this idea.

ROS would be a tremendous thing to implement for FRC since it's rapidly becoming / already is the standard for research robotics.

[dmaki]

Old thread, but here is something regarding ROS on the new 2015 control system.

from https://decibel.ni.com/content/docs/DOC-30419

NI roboRIO Details and Specifications
new comment by DAQjr View all comments on this document
dmaki wrote:



What Linux Distro will be running on the RoboRIO? What are the real time extensions?
I would like to see if I can get it to run ROS. ROS.org
Do you think that would be a technical possibility?
I was recently asked for my input on potential rule changes. If a robot could potentially run ROS, a rule may need to be made to allow it or disallow it.

Dustin Maki



Hueter added links to the FAQ about the OS and what real-time extensions are. The distribution is called NI Linux Real-Time. It is built with Open Embedded.

I see no reason that ROS would not build for the roboRIO with no issues. Google says: http://wiki.ros.org/ROS/CrossCompiling

I don't think there's a reason why ROS would require a rule change.