[Discourse.ros.org] [Embedded] Best ARM board for ROS
Shawn Schaerer
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I would like to get an opinion on what people think is the best ARM board for ROS. I have tried the dragonboard, raspberry PI3 and beaglebone black. beaglebone does not have the horsepower to run ROS (moveit,etc). I think that a quad core A53 might be the minimum required. Anyway comments welcome. Shawn |
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Vmayoral
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HI @Shawn_Schaerer, I've tried all those and my advice for new projects would be to have a look at the new NVIDIA Jetson TX1 module. IMO it's by far the best ARM embedded board where to run ROS and friends. |
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L0g1x
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@vmayoral how is the TX1 compared to the TK1? I have used the TK1 myself, and it has the capabilities to be extremely powerful, however all of nvidia images are given out with low power settings so you have to configure it all yourself (i also noticed that it had a issue with IRQ balancing, which till this day I dont believe got fixed) |
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Shawn Schaerer
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Hi, Yes, the TX1 would be a great board (or the TK1). I should have clarified and said best board under 120. |
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Vmayoral
ruffsl
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Has anyone used an old flagship phone as a "ARM target"? I'd like to use some old android phones that still have a good 2GB of RAM + 64-bit ARMv8 that include a swath of radios, sensors, self contained power supply. Buying one retail might be above your $120 mark, but if you have one siting around in a relatives junk droor or with a cracked screen off ebay... I know there is ROS for android with ROSJava, but flashing phones with a more common flavor of Linux and treating as a traditional embedded target has always been appealing to me. I think mobile device hardware support is a bit fractured thanks to device manufactures, so I've only seen posts with Nexus and Ubuntu Touch, nothing like an old Samsung I have. |
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Spyros Maniatopoulos
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 Shawn_Schaerer: | ||
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I was hoping to use the BBB for a mobile robot doing things like SLAM, localization, and navigation (move_base). So no need for image/video processing, only spinning LiDAR. From my testing, it doesn't look adequate even for that, unfortunately. How do people feel about the Odroids? http://www.hardkernel.com/main/main.php |
Morgan Quigley
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ODROID XU-4 is pretty awesome. It has a USB3 host, and if you have a USB3 peripheral that you need to talk to, I don't think there are many (any?) similarly-sized and similarly-priced options at the moment. |
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| I was hoping to use the BBB for a mobile robot doing things like SLAM, localization, and navigation (move_base). So no need for image/video processing, only spinning LiDAR. From my testing, it doesn't look adequate even for that, unfortunately. How do people feel about the Odroids? http://www.ha… | ||
Jonathan Binney
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+1 for the XU-4. It can run a surprisingly serious ROS setup (motion planning, depth image processing). I've just bought a C2 as well; haven't had a chance to try it out yet though. |
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| ODROID XU-4 is pretty awesome. It has a USB3 host, and if you have a USB3 peripheral that you need to talk to, I don't think there are many (any?) similarly-sized and similarly-priced options at the moment. | ||
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Shawn Schaerer
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spmaniato You can use the BBB but for me using MoveIt it the CPU ran around 80-90 percent during planning. Which is not good. Using the DB410C or RPI3 it runs around 60-70 percent. I have not used an Odroid, but have used SolidRun cubox and Radxa rock and TK1. |
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Martin Günther
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Since you mentioned depth image processing: did you try connecting an Asus Xtion to the XU-4? Does it work? |
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| +1 for the XU-4. It can run a surprisingly serious ROS setup (motion planning, depth image processing). I've just bought a C2 as well; haven't had a chance to try it out yet though. |
Pablo Iñigo Blasco
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Nice discussion with interesting answers. Just to mention my experience: I also used ROS in rpi2 rpi3, bbb and Odroid XU4 successfuly in several Kind Regards. |
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| Since you mentioned depth image processing: did you try connecting an Asus Xtion to the XU-4? Does it work? | ||
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nick
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we have used xu4 with turtlebot with asus camera |
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Spyros Maniatopoulos
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 Pablo_Inigo_Blasco:
@Pablo_Inigo_Blasco, have you ever tried running the navigation stack (i.e., |
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| Nice discussion with interesting answers. Just to mention my experience: I also used ROS in rpi2 rpi3, bbb and Odroid XU4 successfuly in several projects. I did not used MoveIt but I can tell that it is enough to support some SLAM systems if the algorithms parameters are well tuned for efficienc… | ||
Jonathan Binney
Hubert Zwiercan
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Hubert_Zwiercan
May 26 |
Hi!
I work with ROS on hybryde set of Asus Tinker Board (https://www.asus.com/us/Single-Board-Computer/Tinker-Board/) and Husarion CORE2 (https://husarion.com/core2/). I tried also Pi3 instead Asus, BBB and few other devices and sets but all of them was little a bit slow. Now i can use any packages that I want without any problem. You realy should check this out.
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fkromer
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fkromer
August 17 |
The question depends on what you mean with “best”. If you mean “best to learn ROS on ARM” the BeagleBone Blue (BB for robotics) or the BeagleBone Black with Robotics Cape could be good choices (affordable board, hardware support for applications out-of-the-box, software libraries for low level functionality let you focus on application level functionality, software libraries easy to install).
A nice course also for absolute beginners which uses the BBB with Robotics Cape is e.g. EDUMIP ROS course.
Hubert Zwiercan
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Hubert_Zwiercan
September 7 |
I have to agree with @fkromer about this course, but if you want something on really basic level i recomend you tutorial created by Husarion https://husarion.com/core2/tutorials/. It’s based on CORE2-ROS. You can use another device of course but like I said before CORE2-ROS is very easy and nice to use controller :slight_smile:
David Crawley
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davecrawley
September 19 |
We’ve tried many of these boards and several in between. We wound up coming back to RPi3 again and again. The fact that RPi has such a strong community tended to mean that problems with their software stack usually get ironed out quickly. There is also a lot of support for image processing on the RPi3. For example here: http://www.pyimagesearch.com/
I think adrian, from pyimagesearch has conclusively shown that the RPi 3 does have enough horsepower to do some rather interesting visual processing applications.
We actually have an RPi3 image here which includes ROS as well as all the projects we are working on:
https://downloads.ubiquityrobotics.com/
Quick summary of our experience
*BBB - not enough horsepower
*nVidia boards - good in theory, but when we tried it the OS stack was kind of problematic, with lots of bugs that needed nVidia’s attention and them not really dealing with them. Things may have improved since we tried more than a year ago.
*Rockboard - good in theory but the community support from RPi was just better and RPis were more powerful and cheaper
*oDroid - perhaps we could have gone harder on this one, but a lot of the peripherals we wanted weren’t possible on this one.