Real-Time Robotics Framework

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====== Use on a Beaglebone Blue Board ======

The following is a step-by-step procedure to get started using EEROS on the [[https://wiki.bu.ost.ch/infoportal/embedded_systems/ti_sitara_am335x/beaglebone_blue/start|BeagleBone Blue]] board. It describes how to use our SDK for the Beaglebone blue. The application is developed on a Linux host machine and can then be deployed to the board.

===== Install Linux Image on Beaglebone Blue =====

This section describes how to get the newest Linux image installed on your [[https://wiki.bu.ost.ch/infoportal/embedded_systems/ti_sitara_am335x/beaglebone_blue/start|BeagleBone Blue]] board. This image already contains the EEROS library together with examples. Further is includes necessary hardware libraries, notably the [[http://beagleboard.org/librobotcontrol/index.html|librobotcontrol]] as well as basic functionalities of ROS. 

  - Get the newest Beaglebone Blue image from [[https://gitlab.ost.ch/tech/inf/public/meta-ost/-/packages]] by selecting the newest //bblue// folder.
  - Download //ost-image-*-bblue.wic.gz//. 
  - Decompress it with <code>gunzip ost-image-*-bblue.wic.gz</code>
  - [[https://wiki.bu.ost.ch/infoportal/software/linux/yocto/x86-rt#installing_images|Create a bootable micro-sd card]]. The given instructions are for an USB stick, but the process is the same.

===== Install SDK on the Host =====
In order to develop your application on the host, you have to install the cross development SDK.
  - Get the newest cross development SDK for the Beaglebone Blue from https://gitlab.ost.ch/tech/inf/public/meta-ost/-/packages by selecting the newest //bblue// folder.
  - Download //ost-distro-glibc-x86_64-ost-image-*-cortexa8hf-neon-bblue-toolchain-1.0.sh//. 
  - Execute the unpacked script with <code>$ ./ost-devel-glibc-x86_64-ost-image-*-cortexa8hf-neon-bblue-toolchain-1.0.sh</code>Stick with the default target directory for the SDK. 

===== Install Git =====
Install the following package on your machine <code>
$ apt-get install git
</code>

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