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Have you ever tried to control a self developed vehicle with your PC? This Project provides a GUi Controll, the schematics for the on board electroninc (including the xbee host) and the atmega 32 / 644 / 2550 software to get things work together.
growler is a C++-based distributed object and event architecture.
Its primary application has been in support of interactive, distributed visualization, "concurrent visualization", and computational steering.