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.
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.
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.