Carmen Hardware Requirements

Carmen currently supports the following mobile robot bases:

• iRobot ATRV
• iRobot ATRVjr
• iRobot B21R
• ActivMedia Pioneer I
• ActivMedia Pioneer II
• Nomadic Technologies Scout
• Nomadic Technologies XR4000

We can in principle support any iRobot RFLEX-based device; however, the current CARMEN release only contains appropriate parameters for ATRV and B21R devices. More bases can be supported as needed.

This software has been tested on computers running the following Linux versions:

• Red Hat 5.2, 6.2, 7.1, 7.3, 8.0
• SuSE 8.0

Carmen currently supports the following sensors:

• SICK LMS laser measurment system
• SICK PLS proximity laser scanner
• Garmin GPS35-LVS Global Positioning System
• Sonar (preliminary support).

You must have a laser range finder to build a map, and currently, localization and navigation are not supported using sonars only.