Deploy to Beaglebone Blue Board

Back to Writing EEROS Applications for Beaglebone Blue Board.

Preparations

Fetch the EEROS scripts in your project root directory on your host and checkout the branch for the Beaglebone Blue board

$ git clone https://github.com/eeros-project/eeros-build-scripts.git
$ cd eeros-build-scripts
$ git checkout sdk_bbb

The file config.sh.in contains entries for the destination of deploying.

target_IP_address=192.168.7.2
target_username=ost
target_application_folder=/home/ost/

Deploying

Next, edit deploy.txt on the host in your project directory and enter the application program you want to transfer together with the necessary hardware configuration file, e.g.

../simple-motor-control/build-armhf/simpleMotorControl
../simple-motor-control/build-armhf/HwConfigBBBlue.json

If you wrote your own Say Hello with EEROS the file would look like

../hello/build-armhf/helloworld

Finally, load them onto the target with

$ ./deploy.sh

Running your Application

ssh into the board with

$ ssh ost@192.168.7.2

For credentials see Beaglebone Blue.

Change into your target application folder and run the example

$ cd bin
$ ./helloworld
or
$ sudo ./simpleMotorControl -c HwConfigBBBlue.json

Running your Application which is a ROS Node

Be sure to setup your network settings according to Network Setup. Set the environment variable ROS_MASTER_URI in your shell with

export ROS_MASTER_URI=http://192.168.7.3:11311

Add the following line to your /etc/hosts file (under Ubuntu)

192.168.7.2  bblue

Run your application with

$ sudo -E ./application

Running the Built-in Examples of EEROS

Running the built-in examples of EEROS as given in the tutorial pages in Tutorials is quite simple, e.g.

$ sudo /usr/examples/rtTest/rtTest