Real-Time Robotics Framework

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====== Compile on the Host ======

Back to [[getting_started:install:use_on_host|]].

Fetch the [[https://github.com/eeros-project/eeros-build-scripts.git|EEROS scripts]] on your host and checkout the branch for the host <code>
$ git clone https://github.com/eeros-project/eeros-build-scripts.git eeros-project
$ cd eeros-project
$ git checkout host
</code>

Edit the ''config.sh.in'' file as follows
<code>
use_simulator=true
use_comedi=false
use_ros=false
use_ros2=false
</code>

This will build EEROS without the ROS examples. If you have ROS2 installed and want to build the ROS examples, change the ''config.sh.in'' to
<code>
use_simulator=true
use_comedi=false
use_ros=false
use_ros2=true

ros_setup_script=/opt/ros/kinetic/setup.bash
</code>
The last line must point to your ROS installation path. In general this will be ''/opt/ros/$ros_version_name/setup.bash''.

If you want to use ROS1, change the ''config.sh.in'' to
<code>
use_simulator=true
use_comedi=false
use_ros=true
use_ros2=false

ros_setup_script=/opt/ros/noetic/setup.bash
</code>
Further, when using ROS1, search for the line <code>ros_eeros_git_version=v2.0.0</code>
and change it into <code>ros_eeros_git_version=v1.0.1</code> 

[[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 on the host.
If you want to use EEROS with [[http://www.comedi.org/|]] you have to install comedi first, see [[http://www.comedi.org/]]. Then change the ''config.sh.in'' to
<code>
use_simulator=true
use_comedi=true
use_ros=false
use_ros2=false
</code>

Now you can run the ''clone'' script 
<code>
$ ./clone.sh
</code>


After having downloaded the code you can now compile EEROS together with necessary libraries. The build and install directories are set in ''config.sh.in'' as follows
<code>
install_dir="$wd"/install-x86 
build_dir="$wd"/build-x86 
</code>
Change this setting if you want to choose different build and install directories. 

After this you proceed with
<code>
$ ./make.sh
</code>

This will put all the executables into the build directory you have chosen and the compiled libraries together with the header files into the install directory. Please keep in mind that build and install directory are both defined in ''config.sh.in''.

Continue with [[getting_started:write_app:use_on_host|]].