Looking for an I/O rack for an embedded computer ROS friendly

asked 2015-05-11 03:51:07 -0600

maztentropy gravatar image

updated 2015-05-11 04:44:38 -0600

I am in the early stages of a new mobile robot and I have at my disposal an embedded computer ARK-3440. I am looking into options to extend the I/O capabilities of the ARK-3440 with an I/O rack but I am new to ROS so I don't know if there will be any compatibility issues. Any advice on the matter?

EDIT: At this stage I do not have the full specifications of my project therefore I do not know if the list connections already available in my system is enough. But I was requested to inquire in the possibility of using some rack like CompactRIO which would allow almost any kind of DAQ connection in case the system was further expanded.

I found some simpler and less flexible solution with RoNex but I wanted to know if there are other options that could be defined as ROS friendly.

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What kind of difficulties do you potentially expect? Could you add that to your question?

Also: what kind of hardware does the I/O rack add and what level of integration do you expect? Note that there are currently no standardised I/O msgs or services defined.

gvdhoorn gravatar image gvdhoorn  ( 2015-05-11 04:15:36 -0600 )edit

I have considered using a PCI card but it seems for now there's only a wrapper for the sensory 626. I am not really experienced in writing one myself but would it be possible to do it (for someone without much experience) supposing the card had Linux drivers?

maztentropy gravatar image maztentropy  ( 2015-05-18 11:39:18 -0600 )edit

Depending on the amount of integration you are after it should not be too difficult to get some pin toggling going. You mentioned CompactRIO: there is experimental ROS support for Labview, which could perhaps be useful: https://groups.google.com/forum/#!for... .

gvdhoorn gravatar image gvdhoorn  ( 2015-05-18 12:14:24 -0600 )edit

@maztentropy Not sure how far along you are but if you're looking to make your electronics smaller, add a ton of I/O, and don't want to break the bank with NI equipment, give this a look: www.krtkl.com . We're in Alpha right now but if you're interested we should talk: cousins@krtkl.com -Ryan

rcousins gravatar image rcousins  ( 2015-05-28 13:28:55 -0600 )edit