====== Installing Hardware Libraries ======
As soon as you want to access hardware on your system you need a [[eeros_architecture:hal:hardware_libraries|Hardware Library]]. Depending on the type of the hardware you have to install one of the libraries given below. Please keep in mind that these libraries are already included in our target images or get installed automatically if you follow the steps given in [[getting_started:install:use_on_host|]].

===== Simulator =====
Clone the eeros simulator wrapper source repository:
<code>
$ git clone https://github.com/eeros-project/sim-eeros.git sim-eeros
</code>

Checkout a stable version of the wrapper:
<code>
$ cd sim-eeros
$ git checkout v1.0.1</code>

Continue with [[getting_started:compile_eeros_man|]].
===== flink =====
Follow the installation instructions in [[http://flink-project.ch/]] to install flink. \\
As a next step clone the eeros flink wrapper source repository:
<code>
$ git clone https://github.com/eeros-project/flink-eeros.git flink-eeros
</code>

Checkout a stable version of the wrapper:
<code>
$ cd flink-eeros
$ git checkout v1.0.10</code>

Continue with [[getting_started:compile_eeros_man|]].
===== Beagle Bone blue =====
Make sure to have the [[http://beagleboard.org/librobotcontrol/index.html|librobotcontrol]] installed on your host and target machine. It is already included in our SDK for the [[http://beagleboard.org/blue|BeagleBone blue]] board.
When this is done clone the eeros bbblue wrapper source repository:
<code>
$ git clone https://github.com/eeros-project/bbblue-eeros.git bbblue-eeros
</code>

Checkout a stable version of the wrapper:
<code>
$ cd bbblue-eeros
$ git checkout v1.3.0</code>

Continue with [[getting_started:compile_eeros_man|]].
===== comedi =====
Follow the installation instructions in [[http://www.comedi.org/]] to install the comedi library. \\
When this is done clone the eeros comedi wrapper source repository:
<code>
$ git clone https://github.com/eeros-project/comedi-eeros.git comedi-eeros
</code>

Checkout a stable version of the wrapper:
<code>
$ cd comedi-eeros
$ git checkout master
</code>

Continue with [[getting_started:compile_eeros_man|]].
===== ROS =====
Follow the installation instructions in [[http://www.ros.org/]] to install ROS itself. We suggest using ROS2. However, you can also use ROS1.\\
After this you have to clone the eeros ROS wrapper source repository:
<code>
$ git clone https://github.com/eeros-project/ros-eeros.git ros-eeros
</code>

Checkout a stable version of the wrapper. For ROS2, this is:
<code>
$ cd ros-eeros
$ git checkout v.2.0.0</code>
For ROS1, use the version v.1.0.1.\\
Continue with [[getting_started:compile_eeros_man|]].
===== EtherCAT =====
The detailed documentation about EtherCAT together with installation and setup information is given on [[https://wiki.ntb.ch/infoportal/embedded_systems/ethercat/start|OST Infoportal]].

Use the predefined EtherCAT blocks within a control system, see [[eeros_architecture:control_system:available_blocks#blocks_for_interfacing_with_ethercat|Blocks for Interfacing with EtherCAT]].


===== CANopen =====
The detailed documentation about CANopen together with installation and setup information is given on [[https://gitlab.ost.ch/tech/inf/public/canopenlib]]. 

Use the predefined CAN blocks within a control system, see [[eeros_architecture:control_system:available_blocks#blocks_for_interfacing_with_can|Blocks for Interfacing with CAN]]. Add ''-DUSE_CAN=TRUE'' to the cmake arguments when building EEROS to include an example using CANopen.

===== MODBUS =====
We use MODBUS for accessing sensor data. On Linux, use [[https://libmodbus.org/]] for information about installing the library.
For the examples in EEROS which use MODBUS to be built, you have to add ''-DUSE_MODBUS=TRUE'' to the cmake arguments when building EEROS.

===== PixyCam =====
When using the pixy camera (see [[eeros_architecture:control_system:available_blocks:pixycam2|]]), you have to fetch and install its necessary library.
Add ''-DUSE_PIXYCAM=TRUE'' to the cmake arguments when building EEROS to include an example with PixyCam.

===== RealSense =====
When using the RealSense camera (see [[eeros_architecture:control_system:available_blocks:realsenset256|]]), you have to fetch and install its necessary library.
Add ''-DUSE_REALSENSE=TRUE'' to the cmake arguments when building EEROS to include an example with RealSense T256.

===== RP Lidar =====
When using a RPLidar (see [[eeros_architecture:control_system:available_blocks:rplidar|]]), you have to fetch and install its necessary library.
Add ''-DUSE_RPLIDAR=TRUE'' to the cmake arguments when building EEROS to include an example with RPLidar sensor. This argument will also fetch a driver from the ''external'' directory within EEROS.

===== SBG Ellipse-A =====
When using a SBG Ellipse-A sensor (see [[eeros_architecture:control_system:available_blocks:sbgellipsea|]]), you have to fetch and install its necessary library.
Add ''-DUSE_SBGECOMM=TRUE'' to the cmake arguments when building EEROS to include an example with Ellipse-A sensor.

===== ODrive =====
When using ODrive motor controllers (see [[eeros_architecture:control_system:available_blocks:odrive|]]), you need a library with the ''external/odrive'' directory of EEROS. Build this library and install it.
Add ''-DUSE_ODRIVE=TRUE'' to the cmake arguments when building EEROS to include an example controlling an odrive.