see https://github.com/thentnucyborg/CyborgRobot/wiki/Mode-Selector-Box
The Arduino powered startup box allows the user to select an operating mode upon starting the Pioneer LX. The modes are:
- ROS controller (the main state-machine)
- Aria demo (which enables manual operation of the robot via a joystick)
Startup scripts provide the necessary interface between the Arduino and the Pioneer's onboard machine.