Real-Time Robotics Framework

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====== Deploy to cb20 Board ======
Back to [[getting_started:write_app:use_on_cb20|]].

===== Preparations =====

Fetch the [[https://github.com/eeros-project/eeros-build-scripts.git|EEROS scripts]] in your project root directory on your host and checkout the branch for the cb20 board <code>
$ git clone https://github.com/eeros-project/eeros-build-scripts.git
$ cd eeros-build-scripts
$ git checkout sdk_cb20
</code>

The file ''config.sh.in'' contains entries for the destination of deploying.
<code>
target_IP_address=146.136.100.8      // use appropriate ip number or name
target_username=ost      
target_application_folder=/home/ost/
</code>

===== 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.
<code>
../simple-motor-control/build-armhf/simpleMotorControl
../simple-motor-control/build-armhf/HwConfigBBBlue.json
</code>
If you wrote your own [[getting_started:write_app:use_on_cb20#Say Hello with EEROS|]] the file would look like
<code>
../hello/build-armhf/helloworld
</code>

Finally, load them onto the target with
<code>
$ ./deploy.sh
</code>

===== Running your Application=====
ssh into the board with <code>
$ ssh ost@es140.ntb.ch
</code>
For credentials see [[https://wiki.bu.ost.ch/infoportal/software/linux/yocto/cb20#Accessing_the_cb20|cb20]]. 

Change into your target application folder and run the example <code>
$ cd bin
$ ./helloworld
or
$ sudo ./simpleMotorControl -c HwConfigBBBlue.json
</code>

===== Running your Application which is a ROS Node =====

Be sure to setup your network settings according to [[getting_started:ros_run#network_setup|Network Setup]]. Set the environment variable ''ROS_MASTER_URI'' in your shell with <code>
export ROS_MASTER_URI=http://192.168.7.3:11311
</code>
Add the following line to your ''/etc/hosts'' file (under Ubuntu) <code>
192.168.7.2  cb20
</code>

Run your application with <code>
$ sudo -E ./application
</code>

===== Running the Built-in Examples of EEROS =====

Running the built-in examples of EEROS as given in the tutorial pages in [[getting_started:tutorials:start|]] is quite simple, e.g. <code>
$ sudo /usr/examples/rtTest/rtTest
</code>


===== flink =====

The flink utilities can be used for testing the experimental setup as given in [[getting_started:tutorials:oneaxis_cb20|]]. \\

===== CANopen =====
Make sure to fetch the CANopen library, see [[https://github.com/eeros-project/eeros-build-scripts]]. The library has to be compiled and linked statically to your application. There is no need to transfer is to the target separately.