Real-Time Robotics Framework

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====== Hardware Libraries ======
The eeros framework uses various hardware libraries to access the underlying hardware. Currently we support the libraries listed below. If you need further hardware not listed below go to [[for_developers:wrapper_lib|]]. It is important to notice that for each of the specific hardware libraries you need a wrapper library for eeros.  
[{{ :eeros_architecture:hal:wrapperlibs_concept.png?350 |//Every hardware library needs its specific eeros wrapper library//}}]

===== comedi =====
[[http://www.comedi.org/|comedi]] stands for linux control and measurement device interface. It is a collection of drivers for a variety of common data acquisition plug-in boards. The wrapper library can be found in [[https://github.com/eeros-project/comedi-eeros]].

===== flink =====
[[http://www.flink-project.ch/|flink]] stands for fast link. It is a efficient and standardized way to communicate with hardware functions implemented in a FPGA. The wrapper library can be found in [[https://github.com/eeros-project/flink-eeros]].

===== Beaglebone Blue =====
The [[https://beagleboard.org/blue|Beaglebone Blue]] is a small robotics computer. It allows to directly connect several small motors. The wrapper library can be found in [[https://github.com/eeros-project/bbblue-eeros]]. Therein, you can find a complete example of hardware configuration file using all the available pins, see [[https://github.com/eeros-project/bbblue-eeros/blob/master/HwConfigBBBlue.json]]


===== ROS =====
[[http://www.ros.org/|ROS]] is a collection of tools, libraries, and conventions to write robot control software. The wrapper library can be found in [[https://github.com/eeros-project/ros-eeros]].

===== Simulator =====
See [[eeros_architecture:hal:hardware_libraries_sim|]].

===== EtherCAT =====
EtherCAT is a real-time capable fieldbus. The complete EtherCAT documentation (including library to interface with with EEROS) can be found on [[https://wiki.bu.ost.ch/infoportal/embedded_systems/ethercat/start|OST Infoportal]].

===== CANopen=====
CANopen a fieldbus. The library and its documentation can be found on [[https://gitlab.ost.ch/tech/inf/public/canopenlib]].