View source for ZACO A10

ZACO A10 is a robotic vacuum cleaner sold by in Germany. This is a rebranding of ILIFE A10 and ILIFE A10S robots sold elsewhere in the world.

== Models & Naming ==
* ILIFE is the main brand. The robot identifies itself (via hostname) as ''ilife''.
* ILIFE A10 vs. ILIFE A10S: the A10S version has a mopping attachment, the A10 does not.
* ZACO A10 has a mopping attachment. There is no ZACO A10S, because the mopping function comes included by default.

== Hardware ==

=== Main Board ===
* CPU: AllWinner R16-J / A33
* PMIC: AXP223
* WiFi: Realtek 8189FTV, 802.11bgn 2.4G (only)
* Storage: KLM4G1FETE-B041, 4 GB eMMC
* connected to...
** USB board: microUSB + FEL button for FW flashing
** LIDAR board
** speaker
** LIDAR-bumper switch

=== Driver Board ===
* connected to...
** Main Board via UART
** L & R wheel motor
** L & R side-brush motor
** bumper switch
** bumper IR sensors
** underside IR sensors
** ...
{{Todo|...}}

=== Peripherals ===
* LIDAR (Light Detection And Ranging)
* Speaker, 0.5 W, 8 Ohm
{{Todo|...}}

== Research ==
Reported firmware version: 3.1.64

=== Software ===
* BOOT0 version 4.2.0, commit 2c70a001bdce45080119e80622aa1f2a3899e7d7
* U-Boot {{TODO|precise version}} from 2018
* Linux 3.4.x {{TODO|precise version}}
* OpenSSH 7.4 from 2016
* ROS version 1.11.20, Indigo release from 2016
** nodes
*** /ali_linkkit_wrapper
*** /cartographer_node
*** /cartographer_occupancy_grid_node_block
*** /cartographer_occupancy_grid_node_wifi_map
*** /door_search_client
*** /door_search_server
*** /hlds_laser_publisher
*** /pp
*** /robot_status_publisher
*** /rosout

=== Operating System ===
Users:
* root
* backup, bin, daemon, games, gnats, irc, list, lp, mail, man, news, nobody, proxy, sync, sys, uucp, www-data

=== Open Ports ===
* 22 - OpenSSH 7.4 (protocol 2.0)
* 11311 - BaseHTTPServer 0.3 (Python 2.7.12), XML-RPC (xmlrpclib), ROS Master API and Parameter Server API
* XXXXX - BaseHTTPServer 0.3 (Python 2.7.12), XML-RPC (xmlrpclib), ROS services

== External Links ==
* [https://erlerobot.github.io/erle_gitbook/en/ros/ROS.html ROS introduction]
* [http://wiki.ros.org/ROS/Technical%20Overview ROS Technical Overview]
* [https://wiki.ros.org/ROS/Master_API ROS Master API]
* [https://cs.brown.edu/~vpk/papers/rossec.icra19.pdf Scanning the Internet for ROS: A View of Security in Robotics Research]
* Cartographer is a system that provides real-time ''simultaneous localization and mapping'' (SLAM) in 2D and 3D across multiple platforms and sensor configurations.[https://github.com/cartographer-project/cartographer]
* linkkit, part of [https://github.com/alibaba/AliOS-Things AliOS Things]