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This recommendation doesn't come from experience using it for ROS, but the beaglebone black should do the trick as long as: A) you're not processing depth cameras B) your application level code on top of the navigation stack is relatively light C) your SLAM problem is small

I'm actually in the middle of a project doing essentially what you're doing for an exercise in embedded robotics computing, that's where I'm starting. There's other single board computers you can buy >$100 which can run full-out Ubuntu on them and those will probably be OK