Real-Time Robotics Framework

Using the HAL with the gpio subsystem - created

ursgraf (ursgraf@undisclosed.example.com) — 2026-05-07T12:49:54+00:00

Using the HAL with the gpio subsystem In the EEROS library you will find a directory with examples. For this example see HalTest4.cpp. The system uses real hardware inputs and output. The hardware could be (TODO). You also need to install the necessary wrapper library, see

Tutorials - [Hardware Abstraction Layer]

ursgraf (ursgraf@undisclosed.example.com) — 2026-05-07T12:47:56+00:00

Tutorials In this section you can find step-by-step instructions and examples for learning how to use the various parts of EEROS. Running the examples depends on the platform on which you want to execute them. These tutorial pages assume that you run them on the host. For running them on a target, please see the appropriate page in

Hardware Libraries - [CANopen]

ursgraf (ursgraf@undisclosed.example.com) — 2026-04-28T05:46:26+00:00

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 Create new Wrapper Library. It is important to notice that for each of the specific hardware libraries you need a wrapper library for eeros.

Release Process - [8. Generate the API documentation with Doxygen]

ursgraf (ursgraf@undisclosed.example.com) — 2026-04-22T08:54:22+00:00

Release Process The following is a step-by-step procedure for releasing a new version of EEROS. All the planning work is done on Trello on the EEROS Tasks Board. New developers have to request access rights by submitting the contact form. 1. Announcement of a new release

Running your ROS Example

ursgraf (ursgraf@undisclosed.example.com) — 2026-04-21T14:48:15+00:00

Running your ROS Example Back to Interfacing with ROS. Running your Application on the Host If your EEROS-ROS node is on the host where you also run your ROS master the procedure is straightforward. You can use all your ROS tools as you do without using EEROS. Beware that you built EEROS with ROS support. When running EEROS examples or any other EEROS application you have to make sure that the ROS libraries can be found when dynamic linking comes up. Run your ROS setup scripts as given in

Basic Block

ursgraf (ursgraf@undisclosed.example.com) — 2026-04-20T12:10:37+00:00

Basic Block Blockio is the basic block from which all other blocks inherit. See Custom Blocks to learn how to use this basic blocks for your custom made blocks. However, you can use this block directly and set its specific algorithm that will run whenever the block runs within a timedomain. Use the template parameters to choose any number of input and output signals together with their associated types. The algorithm can be passed to the constructor of the block with a lambda function.

Logging with a Trace Block

ursgraf (ursgraf@undisclosed.example.com) — 2026-04-13T10:17:55+00:00

Logging with a Trace Block When working with realtime applications you have to be careful when logging. The formatting of any output into an output stream takes time and usually cannot be done with the full speed of the control system or the safety system. However, when debugging a intricate control algorithm it might be desirable to study various signal values together with their timestamps as they are calculated in the control system.

Vectors and Matrices

ursgraf (ursgraf@undisclosed.example.com) — 2026-04-13T10:15:54+00:00

Vectors and Matrices The blocks in the control system are connected among each other with the aid of signals. As described in Signals they carry a timestamp and a value. The value could be a simple type such as an integer or float. Quite often it will consist of a vector or a matrix.

Using an Integrated Development Environment

ursgraf (ursgraf@undisclosed.example.com) — 2026-04-13T09:56:46+00:00

Using an Integrated Development Environment Using an integrated development environment for developing EEROS applications is highly recommended. You have all the features such as source code lookup, code completion or automatic compiling. We recommend to use an integrated development environment such as

Logging - [Adding Output to the SysLog]

ursgraf (ursgraf@undisclosed.example.com) — 2026-04-13T09:12:34+00:00

Logging A logger enables a user to gather information about the state of the system at runtime. A logger can be declared and used as follows: Logger::setDefaultStreamLogger(std::cout); Logger log = Logger::getLogger(); log.info() << "Logger Test"; int a = 298; log.warn() << "a = " << a; log.error() << "first line" << endl << "second line";

Do Not Run Programs with Root Privileges

ursgraf (ursgraf@undisclosed.example.com) — 2026-04-13T05:32:04+00:00

Do Not Run Programs with Root Privileges On a realtime system, you need certain privileges to run EEROS applications. This is for the fact that the Executor tries to change thread priorities and the scheduling principle to realtime characteristics.

Compile Manually

ursgraf (ursgraf@undisclosed.example.com) — 2026-04-12T16:05:49+00:00

Compile Manually Back to Getting the Sources Manually. Compile and install EEROS for the host as follows: $ mkdir build-x86 $ cd build-x86 $ mkdir eeros $ cd eeros $ cmake -DCMAKE_INSTALL_PREFIX=../../install-x86 .. $ make $ make install If your target architecture is different from the host platform we suggest to use a SDK. If you don't use a SDK, you have to specify a toolchain file with as given in

systemtest2ss.png

ursgraf (ursgraf@undisclosed.example.com) — 2026-04-12T13:49:53+00:00

safetysystemevents1.jpg

ursgraf (ursgraf@undisclosed.example.com) — 2026-04-12T13:44:21+00:00

mockrobotcontrolsystem.png - created

ursgraf (ursgraf@undisclosed.example.com) — 2026-01-13T07:26:57+00:00

roscontrolsystem.png

ursgraf (ursgraf@undisclosed.example.com) — 2024-12-06T11:11:02+00:00

roboter.jpg - created

ursgraf (ursgraf@undisclosed.example.com) — 2024-10-24T12:48:55+00:00

safetysystemevents1.png

ursgraf (ursgraf@undisclosed.example.com) — 2024-06-14T12:25:38+00:00

safetysystemoneaxis.png - removed

ursgraf (ursgraf@undisclosed.example.com) — 2024-06-14T09:10:20+00:00

sequencerexample5.png - removed

ursgraf (ursgraf@undisclosed.example.com) — 2024-06-14T09:10:10+00:00