SX-500 Allows sharing serial devices on traditional or wireless networks Overview The SX-500 is an external 802.11b/g wireless or 10base-T/100base-T wired serial server with advantages such that include:. Industry-leading security including WPA, WPA2, and WEP, plus 802.1x authentication with the most commonly used EAP types.
Easiest way to connect an existing RS-232 device to a wireless or wired network. Rugged pre-plated galvanized steel enclosure with IP40 industrial grade rating Flexible The SX-500 serial server family allows sharing serial devices on traditional or wireless networks. It can be ordered with a wireless option that provides 802.11g LAN connectivity in addition to Ethernet. The provided Serial Port Emulator software allows for easy integration with existing PC applications. Secure The SX-500 serial servers include enterprise-level security features including access control lists, complete protocol and application enable/disable control, read and write configuration passwords, and SNMP community name configuration.
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Troy 500 Serial Server Wikipedia
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Contents. The Roomba Robot The roomba500series package was developed on top of the iRobot Open Interface Specification. The 500 series Roombas communicate over the same protocol that the popular iRobot Creates do, however the same protocol (although similar) is not shared with the older 400 series Roombas. This package was fully tested on the models 530, 555 and 560. The Roomba is a very interesting and robust platform for mobile robot research. Although its performance is not comparable to that of a robot designed with research in mind, the extremely low price is a compelling argument. Sensors The Roomba comes equipped with the following sensors:.
2 bumpers up front;. 6 IR bumpers up front;. 4 cliff IR sensors;. The complete tutankhamun by nicholas reeves pdf converter. Left, right and omni directional IR data receivers;. Various buttons.
Actuators The Roomba has the following actuators:. Left and right wheel motors;. Main and side brush motors and vacuum motor;. Rudimentary music playback. Various lights. Accessories Most Roomba models ship with the following accessories:.
Docking station;. Virtual wall/beacon. ROS API Action API The library present on the roomba560node and godockserver nodes provides an implementation of the GoDockAction (see ), that automatically docks the Roomba. The GoDockAction is still experimental, it still needs a lot of work until it can be considered stable. Action Subscribed Topics godock/goal. Goal is empty for the godock action.
Battery. Battery status to know if the robot is docked. Ircharacter. Data from the Roomba IR receivers, left right and omni directional, to guide the Roomba to the dock. Action Published Topics godock/result. Result is empty for the godock action.
Cmdvel. Velocity commands to the robot. Roomba500lightnode roomba500lightnode is a driver for any Roomba from the 500 series. It solely subscribes to velocity commands and publishes the robot's odometry. Subscribed Topics cmdvel.
Velocity commands to the robot. Published Topics odom. Odometry readings from the robot. Parameters roomba/port ( string, default: /dev/ttyUSB0). The serial port where the Roomba can be found.
Roomba560node roomba560node is a driver for the Roomba 555 and 560. It exposes all the functionalities that these models have to offer. This node includes the GoDockAction. Subscribed Topics cmdvel. Velocity commands to the robot. Leds. Various Leds on the Roomba.
Digitleds. The digit Leds on the Roomba (clock). Song. Store a song on the Roomba. Playsong. Play a song on the Roomba. Published Topics odom.
Odometry readings from the robot. Battery. Battery status. Bumper. Left and right bumper readings buttons.
Status of the various buttons on the Roomba. Cliff.
Cliff sensor readings irbumper. Readings from the array of six IR sensors on the front of the Roomba. Ircharacter. Data from the Roomba IR receivers, left right and omni directional.
Wheeldrop. Wheel drop sensor readings. Parameters roomba/port ( string, default: /dev/ttyUSB0). The serial port where the Roomba can be found.
Godockserver godockserver is a wrapper node for the GoDockAction created for testing and debugging. Godockclient godockclient is a client implementation for the GoDockAction created for testing and debugging. Custom Nodes The iRobot Open Interface protocol for the 500 series Roomba is also available as a library on the package. This can be used to make custom nodes with any desired combination of Roomba features.
To start your own node check the page. Tutorials Coming soon. IRobot Open Interface Specification The iRobot Open Interface Specification document used for developing this package can be found.