The following is a step-by-step procedure to get started using EEROS on the 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.

1. On the host, you have to fetch the cross development SDK for the Beaglebone blue from Downloads and install it on the host according to Installing the SDK.
2. Make sure to have the newest image from our download section Linux Images installed on your Beaglebone blue board. This image already contains the EEROS library together with examples. Further is includes necessary hardware libraries, notably the librobotcontrol as well as basic functionalities of ROS.
3. In order to be able to write your own EEROS programs or alter existing example applications, you could use any text editor. However, we recommend to use an integrated development environment such as https://www.kdevelop.org/. Get the program with

   $ apt-get install kdevelop

4. Fetch the EEROS scripts on your host and checkout the branch for the Beaglebone Blue

   $ git clone https://github.com/eeros-project/eeros-build-scripts.git eeros-project
   $ git checkout sdk_bbb
   $ cd eeros-project

After this you can continue with Writing EEROS Applications for Beaglebone Blue Board.

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_cross_compilation_environment=true
use_ros_setup_script=false

The entry use_cross_compilation_environment ensures that you compile using an SDK built for the target platform. This SDK already contains the librobotcontrol. Make sure to install the SDK by

• downloading the SDK from Linux Images
• installing the SDK as described in https://wiki.bu.ost.ch/infoportal/software/linux/bbblue-sdk

Edit the file config.sh.in as follows

environment_setup_script=/opt/ntb-distro/1.0/environment-setup-armv7at2hf-neon-poky-linux-gnueabi

This will guide your make script to use the SDK. Make sure that the above path matches your installation path.

Setting the entry use_custom_application 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

After this you can continue with Compile.