Single-Board Computer for ROS2

ros2
SBC

asked 2020-10-11 12:32:49 -0500

Raphael
1 ●1 ●1 ●1

Dear Community

We are considering building a robot consisting of several modules (drives, sensors, UI, etc.) that we aim to combine as nodes in ROS2. Main concern is size / footprint (as small as possible), real-time capability, EtherCAT or CANopen, ideally an onboard IMU, temperature-sensor, a few analog/digital IOs and Gigabit Ethernet. We would employ such units as simple I/O-bridge to more complex planning tasks / SLAM proecessing of vision-data.

What are the best SBCs for that?

We browsed quite a bit the web, but did not find the "silver bullet" yet. This is why we are very interested in your opinion on this!

Many thanks!

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answered 2021-02-01 02:50:37 -0500

SpecialSnwflk
11 ●2 ●1

Hi all! Currently I am experimenting with rpi4 and RevPi Core 3 ( which is a RPi3 with rt-patch). Main problem imho are differences between 32-/64-bit systems. Raspberry Pi OS is currently only 32-bit, although the 64-bit version is already in beta. I had troubles running a standard Pi Camera "out-of-the-box", since some dependencies are not available as 64-bit, yet. Best working solution for me was to combine it with docker. Using other 64 OS,like ubuntu server 20.04, kinda brought me to the same solution. I hope this helps. Cheers!