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That's perfectly doable with ROS, especially if it needs to be fully autonomous. I don't have first-hand experience running ROS on a Beaglebone, but here's a good example of a non-trivial robot using a Beaglebone and servos.
That's a pretty complicated example, so looking at its code might be a bit overwhelming. If you're completely new to ROS, I'd recommend taking it slow and going through all the tutorials and specifics for the Beaglebone, because ROS can have a big learning curve. This servo controller tutorial might be especially helpful. It assumes you're using an Arduino, but the basic idea is the same.