Sabre Lites

We need a processor for the robot and @mwoo769 mentioned that embedded / single board computers would be a good choice since they are cheap and we can network them together if we need more processing power.

We can test this out on some borrowed Sabre Lite boards. We should benchmark the setup (individual boards + boards networked together) to check it would meet our requirements with some off the shelf ROS modules (such as ones running hector-slam and vision processing). If it turns out it works nicely the boards cost $200 from element 14 (http://au.element14.com/jsp/search/productdetail.jsp?sku=2124398&COM=knode-sabre-space). If the sabre lite turns out to be overkill / not powerful enough we can look for other options

Link to spec sheet: http://www.farnell.com/datasheets/1753979.pdf

Setting up the sd card image from scratch: http://boundarydevices.com/linaro-raring-images-4-1-0-kernels-mx6/
Updating Uboot to the correct version: http://boundarydevices.com/6q_bootscript/
How to get the sd card partitioned correctly:
~/$ sudo umount /dev/sdc*
~/$ echo ',,83,*' | sudo sfdisk /dev/sdc
~/$ sudo partprobe
~/$ sudo mkfs.ext3 -L raring-dev /dev/sdc1
~/$ sudo partprobe
~/$ udisks --mount /dev/sdc1
~/$ sudo tar zxvf linaro-raring-server-20130926.tar.gz -C /media/raring/
~/$ sync && sudo umount /media/raring

Connecting Husky to sabre lites: The linaro kernel for the board doesn't have the usbserial modules so it needs to be connected to husky by serial cable (male husky end, female sabre end). Use the serial port not labelled debug (/dev/ttymxc0). Make sure you own the port.

Using the IMU: Is a virtual serial device (/dev/ttyACMO) so cannot be hot plugged. $ sudo apt-get install ros-hydro-microstrain-3dmgx2-imu $ rosrun microstrain_3dmgx2_imu imu_node _port:=/dev/ttyACM0