# Real-Time Robotics Framework

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getting_started:deploy:deploy_bbb

# Deploy to Beaglebone Blue Board

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

target_IP_address=192.168.7.2
target_application_folder=/opt/eeros/

Now, make sure that the directory /opt/eeros/ exists on the target. If not, ssh into the board. For credentials see Beaglebone Blue. Then, create the directory and set its ownership to user ost with

ost@bblue:$sudo mkdir /opt/eeros ost@bblue:$ sudo chown ost:ost /opt/eeros/

Next, edit deploy.txt in your project directory and enter all the programs and libraries you have to transfer.

install-armhf/lib/libeeros.so.1.2.0.0
install-armhf/lib/libbbblueeeros.so.1.2.0.0

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

If you did not include the application https://github.com/eeros-project/simple-motor-control.git you have to alter the last two lines and set the entries according to your needs. E.g. if you wrote your own Say Hello with EEROS the file would look like

install-armhf/lib/libeeros.so.1.2.0.0
install-armhf/lib/libbbblueeeros.so.1.2.0.0

build-armhf/helloworld

Obviously, this application does not make use of a hardware configuration file.

Finally, load them onto the target with

$./deploy.sh The system must find the eeros and hardware wrapper libraries to dynamically load them. The following symbolic links must be created once. debian@beaglebone:$ cd /usr/lib/
debian@beaglebone:$sudo ln -s /opt/eeros/lib/libbbblueeeros.so.1.2.0.0 libbbblueeeros.so.1.2.0.0 debian@beaglebone:$ sudo ln -s libbbblueeeros.so.1.2.0.0 libbbblueeeros.so
debian@beaglebone:$sudo ln -s /opt/eeros/lib/libeeros.so.1.2.0.0 libeeros.so.1.2.0.0 debian@beaglebone:$ sudo ln -s libeeros.so.1.2.0.0 libeeros.so

Make sure the version information (….so.1.2.0.0) is not outdated! If you use newer versions of the libraries as given in deploy.txt you must adapt the links accordingly.