A much easier to use alternative to ROS would be our platform, the DyIO and the Bowler Communication Sysrtem. We use a platform independent communication platform to turn any computer into a robot. WPI is now using these controllers as the basis for all the intro and advanced robotics engineering classes. You would write code in Java (Standard Edition), execute the application of any OS, and communicate to the DyIO for all your I/O needs. We have a ton or tutorials and HowTo's for accessing the different capabilities of the DyIO. If there was some interest i could run a seminar about making robots with Linux... -- Kevin Harrington Neuron Robotics President and Founder