See here

Carmen Hardware Requirements

Carmen has been tested on computers running the following Linux versions:

• Red Hat (string from version 5.2)
• SuSE Linux (starting from version 8.0)

If you are running the simulator, no extra hardware is required.

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
• OrcBoard
• Segway

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.

Carmen currently supports the following sensors:

• SICK LMS laser measurment system
• SICK PLS proximity laser scanner
• GPS device using the NMEA protocol: e.g. Garmin, Sirf, ... (most consumer GPS)
• Sonar (preliminary support)
• Hokuyo IR Support (PB9)