api_documentation: http://docs.ros.org/fuerte/api/kinton_robot/html
authors: "Maintained by IRI Robotics Lab, \xC0ngel Sanatamaria Navarro and Adri\xE1\
  n Amor"
brief: kinton_robot
depends:
- ros
- mav_tools
- simulator_gazebo
- ccny_vision
depends_on: []
description: "\n      <p>\n        ROS software stack to handle Kinton Robot. Kinton\
  \ is a Pelican Quadrotor from Asctec \n        used in the <a href=\"http://www.iri.upc.edu/project/show/116\"\
  >project ARCAS\n        (Aerial Robotics Cooperative Assembly System)</a>.\n   \
  \  </p>\n     <p>Currently, the robot is equipped with:</p>\n     <ul>\n       <li>AutoPilot</li>\
  \ \n       <ul>\n       <li>3D magnetometer</li>\n       <li>3-axis gyros</li>\n\
  \       <li>3-axis accelerometers</li>\n       <li>pressure sensor</li>\n      \
  \ <li>Two LPC2146 ARM processors, one 'LL' (low level) and one 'HL' (high level).\
  \ The docs say that the HL processor is factory programmed to monitor battery voltage\
  \ and parse and forward GPS data, leaving &quot;plenty of computing power for user\
  \ applications&quot;. Thus the LL processor must handle the high rate (reportedly\
  \ 1 kHz) inner loop attitude control and altitude control. The LL processor is a\
  \ black box or &quot;code-protected&quot; in their parlance.\n</li>\n       </ul>\n\
  \       <li>GPS (uBlox LEA5T)</li>\n       <li>Motors</li>\n          <ul>\n   \
  \         <li>Custom (labeled 'AscTec Pelican')</li>\n          </ul>\n       <li>Motor\
  \ Controllers</li>\n          <ul>\n            <li>X-BLDC (x4)</li>\n         \
  \ </ul>\n       <li>Command/Telemetry Link</li>\n          <ul>\n            <li>WiFi\
  \ (via Atom)</li>\n            <li>XBee Pro (to AutoPilot LL serial port)</li>\n\
  \          </ul>\n       \n \n       <li>Control Link (R/C)</li>\n          <ul>\n\
  \            <li>Spektrum 2.4Ghz</li>\n            <li>AR7000 DSM2 7Ch Receiver</li>\n\
  \            <li>Futaba T7C Transmitter (see AscTec RC Transmitter Switches)</li>\n\
  \          </ul> \n \n \n        <li>Computing - Atom Board</li>\n          <ul>\n\
  \            <li>LiPPERT CoreExpress ECO Computer-On-Module board: 1.6 GHz Intel\
  \ Atom Z530, 1 GB RAM</li>\n            <li>AscTec &quot;CoreExpress Carrierboard&quot;\
  \ (basically a breakout board)</li>\n                <ul>\n                  <li>Interfaces:\
  \ 7 USB ports, 2 serial, mini PCI-express</li>\n                  <li>WLAN module:\
  \ 802.11 b/g/n(?)</li>\n                  <li>SDHC compatible micro SD card reader\
  \ (8 GB - preloaded with Ubuntu) (see: Cloning SD Card for Atom)</li>\n        \
  \        </ul>           \n          </ul> \n        <li>Power</li>\n          <ul>\n\
  \            <li>11.1V, 3-cell LiPo batteries</li>\n            <li>Power board\
  \ distributes 12V battery power to motor controllers and provides regulated 6V for\
  \ the AutoPilot board and regulated 5V for accessories</li>\n          </ul>   \
  \        \n     </ul>\n  "
doc_job: doc-fuerte-all-iri-ros.pub
license: ''
msgs: []
package_type: stack
packages:
- iri_ual_catec
- arm_sim_controller
- kinton_apps
- kinton_vs_control
- kinton_base
- iri_jointspub
- kinton_arm_node
- kinton_arm_tag_tracker
- kinton_sim
- kinton_odom
- kinton_arm_task_priority_control
repo_name: kinton_robot
srvs: []
timestamp: 1386358861.564034
url: http://ros.org/wiki/kinton_robot
vcs: svn
vcs_uri: http://devel.iri.upc.edu/pub/labrobotica/ros/iri-ros-pkg/stacks/kinton_robot/trunk
vcs_version: null
