This page documents the ROS implementation on the BeagleBoard. This is a USB-powered embedded board based on a Texas Instruments OMAP3520 processor featuring a ARM Cortex-A8 core. It has an very active community and a large user base. Hardware details:
- OMAP3530 processor delivers laptop-like performance at handheld power levels
- Over 1,200 Dhrystone MIPS using the superscalar ARM Cortex-A8
- OpenGL ES 2.0 capable 2D/3D graphics accelerator
- HD video capable TMS320C64x+ DSP
- USB power
It is available from Digikey and only costs $149.
For the beagle board ROS installation you'll need at least a 2GB Secure Digital memory card. This needs two partitions (first FAT32, second Ext3) with the first partition as small as possible (32Mb in my case). Copy the files from the download to the correct partition and boot from it. I've not preconfigured the network connection, so add a network device (I used a Linksys USB200M) do 'ifconfig eth0 up' and 'dhclient eth0'. You should be able to ping to the PC running the roscore service. Adjust the setup.sh shell script to you include the correct IP for the device and the correct IP for the PC running roscore. Do 'source setup.sh' and start your rospackage. More elaborate details will follow later.
The RootFS is based on a Ubuntu 9.10. Crosscompilation is done with CodeSourcery crosscompile stack.