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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 BeagleBone Blue board. It describes how to set up the cross development tool chain. The application is developed on a Linux host machine and can then be deployed to the board.
As cross tool chain, the arm-linux-gnueabihf-gcc-4.9 is needed. It is recommended to use a Ubuntu 16.04 as host operating system, since this packet is available in the default repositories. If a Linux host is used in a virtual machine, a lightweight Ubuntu distribution is recommended. In case you are using a newer Ubuntu version, you have to add xenial to your sources list, see https://askubuntu.com/questions/1036108/install-gcc-4-9-at-ubuntu-18-04.
Fetch the EEROS scripts on your cross development system with
$ git clone https://github.com/eeros-project/eeros-build-scripts.git eeros-project $ cd eeros-project
Edit the file config.sh.in
as follows
use_simulator=false use_flink=false use_bbblue=true use_comedi=false use_ros=false use_can=false use_custom_application=true use_toolchain_file=true
Setting the second last entry to true will fetch an existing application from a git repository. Per default this will will be https://github.com/eeros-project/simple-motor-control.git. However, you could choose another repository in config.sh.in
. Or you could set the entry to false if you want to develop your own application.
Now you can run the clone
script
$ ./clone.sh
The library for the roboticscape must be compiled manually. Though the library is already on the target, we must also have it on the host, in order to be able to link an application.
At the time of writing, the Beaglebone blue boards are shipped with an image that has the robotics cape library version 0.3.4 installed. Therefore, it is highly recommended to use this version. The bbblue-eeros wrapper library was implemented to work with the robotics cape library v0.3.4. Newer version were not tested yet. The right version is checked out by the clone script.
Now, the cross tool chain is installed on the host machine with the following command.
$ sudo apt-get install g++-4.9-arm-linux-gnueabihf
To compile the library, change into:
$ cd librobotcontrol/libraries
and edit the Makefile
therein. Change the following to lines from
CC := gcc LINKER := gcc
to
CC := arm-linux-gnueabihf-gcc-4.9 LINKER := arm-linux-gnueabihf-gcc-4.9
This change is necessary because the library must be compiled with the cross compiler. Then, the roboticscape library is compiled using make.
$ make
After this you can continue with Compile.