ZACO A10
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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.
Contents
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
- U-Boot Template:TODO from 2018
- Linux 3.4.x Template:TODO
- 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
- nodes
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
- ROS introduction
- ROS Technical Overview
- ROS Master API
- 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.[1]
- linkkit, part of AliOS Things
