Differences

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--- getting_started:deploy:deploy_cb20 [2021/03/29 17:53] – [Running your Application] ursgraf
+++ getting_started:deploy:deploy_cb20 [2023/04/13 11:21] (current) – [Deploying] ursgraf
@@ Line 3: / Line 3: @@
 ===== 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=es140.ntb.ch      // use appropriate ip number or name
+target_IP_address=146.136.100.8      // use appropriate ip number or name
 target_username=ost
 target_application_folder=/home/ost/
@@ Line 15: / Line 21: @@
 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>
-build-armhf/simple-motor-control/simpleMotorControl
+../simple-motor-control/build-armhf/simpleMotorControl
-build-armhf/simple-motor-control/HwConfigBBBlue.json
+../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>
-build-armhf/hello/helloworld
+../hello/build-armhf/helloworld
 </code>
@@ Line 32: / Line 38: @@
 $ ssh ost@es140.ntb.ch
 </code>
-For credentials see [[https://wiki.bu.ost.ch/infoportal/software/linux/yocto/cb20#Accessing_the_cb20|Beaglebone Blue]].
+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>
@@ Line 41: / Line 47: @@
 </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>
+.168.7.2  cb20
+</code>
+Run your application with <code>
+$ sudo -E ./application
+</code>
+===== Running the Built-in Examples of EEROS =====
-The flink utilities are only used for testing the experimental setup as given in [[getting_started:tutorials:oneaxis_cb20|]]. \\
+Running the built-in examples of EEROS as given in the tutorial pages in [[getting_started:tutorials:start|]] is quite simple, e.g. <code>
-If you did not include the application [[https://github.com/eeros-project/simple-motor-control.git]] you have to alter the middle two lines and set the entries according to your needs. E.g. if you wrote your own [[getting_started:say_hello|]] the file would look like
+$ sudo /usr/examples/rtTest/rtTest
-<code>
-install-armhf/lib/libeeros.so.1.2.0.0
-build-armhf/helloworld
 </code>
-Obviously, this application does not make use of a hardware configuration file.
-Finally, load them onto the target with
-<code>
-$ ./deploy.sh
-</code>
-===== CANopen =====
+===== flink =====
-If you have configured you EEROS project with CANopen, the library will have been fetched and compiled automatically. It will have been statically linked to your appplication and there is no need to transfer is to the target.
+The flink utilities can be used for testing the experimental setup as given in [[getting_started:tutorials:oneaxis_cb20|]]. \\
-===== Set Library Links =====
+===== CANopen =====
-The system must find the eeros and hardware wrapper libraries to dynamically load them. The following symbolic links must be created once.
+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.
-<code>
-ntb@cb20:$ cd /usr/lib/
-ntb@cb20:$ sudo ln -s /opt/eeros/lib/libflink.so libflink.so
-ntb@cb20:$ sudo ln -s /opt/eeros/lib/libflinkeeros.so.1.0.0.0 libflinkeeros.so.1.0.0.0
-ntb@cb20:$ sudo ln -s libflinkeeros.so.1.0.0.0 libflinkeeros.so
-ntb@cb20:$ sudo ln -s /opt/eeros/lib/libeeros.so.1.2.0.0 libeeros.so.1.2.0.0
-ntb@cb20:$ sudo ln -s libeeros.so.1.2.0.0 libeeros.so
-</code>
-IMPORTANT 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.