# Real-Time Robotics Framework

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getting_started:deploy:deploy_host

# Working on the Host

If you are running EEROS on the host machine you can omit deploying to a target machine. However, you have to make sure that the necessary libraries can be found at runtime. We suggest not to install these libraries into your default installation directory. We recommend that you add the directory with your compiled library to your library path with

$export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/absolute/path/to/compiled/lib/

To give an example: If you compiled EEROS together with the simulator wrapper library and installed them locally into /home/you/work/eeros-project/install-x86/ you extend your path with

$export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/you/work/eeros-project/install-x86/lib/

Please keep in mind that this path setting is valid for the current shell. As soon as you start a new shell, you have to repeat the step.
There is one more difficulty. If you start your application with sudo, as you often have to do, you must prepend the call with

$sudo LD_LIBRARY_PATH=${LD_LIBRARY_PATH} ./yourExample

Alternatively, you could could use

$sudo LD_LIBRARY_PATH=/home/you/work/eeros-project/install-x86/lib/ ./yourExample ## Examples If you have followed the instructions given in Use on the Host, Compile on the Host and Writing EEROS Applications for the Host you can call the examples as follows:$ cd ~/eeros-project/build-x86/hello
$./helloworld No root privileges and no other libraries are necessary. If you want to run the built-in examples of EEROS$ cd ~/eeros-project/build-x86/eeros
$./examples/logger/loggerTest No root privileges and no other libraries are necessary.$ cd ~/eeros-project/build-x86/eeros
$sudo ./examples/rtTest/rtTest You need root privileges but no other libraries.$ cd ~/eeros-project/build-x86/eeros
\$ sudo LD_LIBRARY_PATH=../../install-x86/lib/ ./examples/system/systemTest1 -c examples/system/SystemTest1Config.json

You need root privileges and the simulator library must be found. Further, you have to specify a hardware configuration file.

Continue with having a closer look at the examples in EEROS as described in Tutorials.