If anyones interested in open source / free robotics engineering tools, check out my latest work in progress @ www.roboshack.com. I have identified and tested nearly a complete set of engineering tools all open source, in other words free :). Including schematic capture, pcb layout, rapid software development, bug tracking and more. I'm still looking hard for an open source 3D mechanical engineering tool suitable for what we do. You will find some setup instructions and an automated script to download and install all of the tools. Let me know what you think.