Test Architecture is Starting to Take Shape

I am currently interested in getting the test architecture setup to the initial robot design.  Right now I have settled on an interface over wi-fi between the Ubuntu Laptop and the Chumby.  The Chumby will be the interface to the iRobot Create, the robotic arm/servos, the light sensors, the single line detectors, the IR Optical Range Finder, and the webcam.  I need to make sure that the Chumby will both connect and communicate with the Ubuntu Laptop.  The first step is therefore to ensure that all of the interfaces via the USB work correctly.  I will do that with testing on the Ubuntu Laptop via Ubuntu and then via ROS.  The next step is to get ROS working on the Chumby and ensure that the Ubuntu Laptop and the Chumby communicate via ROS.  I will then move the ROS routines for interfacing to the sensors to the Chumby and attempt a checkout there.  That will be followed by interfacing to the sensors through a user interface on the Ubuntu Laptop then through ROS through wi-fi to the Chumby through ROS to the sensors.

This setup will allow me to make major adjustments to the programming on the Ubuntu Laptop and then check it out with the ROS connection.  As the programming portions become more mature I will port them to the Chumby, eventually having all of the routines on the Chumby.  This will also prove to me that I can interface between different robots via ROS.