The code in this directory is a modification of the DRobot daemon forthe XR4000 Robot released by David Austin under the GNU Public License(GPL). His code in turn, was based on code now released by NomadicTechnologies under the GPL as well. I took the liberty of removing everything from the code that shouldn'thave been there in the first place (in my humble opinion). I haveremoved the following:* arm / lift support* laser support (500 and 550)* compass support* the socket interface* buggy useless libraries.I have replaced the socket interface with an IPC interface(http://www-2.cs.cmu.edu/afs/cs/project/TCA/www/ipc/ipc.html)conforming to the CARMEN robot toolkit interface.I have also cleaned up much of the remaining code, including fixing afew bugs. This code comes with no warranties. See LICENSE.TXT for thefull text of the GNU Public license.The following is the original copyright notice for the code from NomadicTechnologies./* *                             ** COPYRIGHT NOTICE ** * * Copyright (c) 1996, Nomadic Technologies, Inc. * * The contents of this  file is copyrighted by  Nomadic Technologies, * Inc, and is protected by United States copyright laws. You may make * as  many copies   of  the software   as  deemed  necessary  for the * effective programming of the Nomad  series robots provided that all * copyright and other proprietary   notices are reproduced  in  their * entirety. * */The original module was reverse engineered by David Austin(d.austin@computer.org).Further modifications to the module were made by me, Mike Montemerlo(mmde@cs.cmu.edu).