# Real-Time Robotics Framework

### Sidebar

getting_started:install_and_setup_development_environment:use_with_cb20

# Use on a cb20 Board

The following is a step-by-step procedure to get started using EEROS on the cb20 Board. It describes how to set up the SDK. The application is developed on a Linux host machine and can then be deployed to the board.

Get the associated SDK from Linux Images

Unpack it on your host system with

$tar -vxJf ntb-dev-image-cb20-1.0_sdk.tar.xz Change into the sdk directory and execute the script therein with $ cd sdk
$./tdx-xwayland-glibc-x86_64-ntb-ros-image-melodic-armv7at2hf-neon-cb20-toolchain-5.0.0.sh Fetch the EEROS scripts on your cross development system with $ git clone https://github.com/eeros-project/eeros-build-scripts.git cb20
$cd cb20 Edit the file config.sh.in as follows use_simulator=false use_flink=true use_bbblue=false 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. Make sure to install the SDK by Edit the file config.sh.in as follows environment_setup_script=/opt/tdx-xwayland/5.0.0/environment-setup-armv7at2hf-neon-tdx-linux-gnueabi This will guide your make script to use the SDK. Make sure that the above path matches your installation path. If you want to use CAN, choose use_can=true 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.

### Test Application

There is a test application for the cb20 board in https://github.com/ntb-ch/cb20.git under the directory /Software. If you wish to use this you can alter config.sh.in as follows

use_custom_application=true
custom_application_name=cb20test

and further down

custom_application_git_remote_address=https://github.com/ntb-ch/cb20.git
custom_application_git_version=master

custom_application_source_dir="$wd/$custom_application_name/Software/$custom_application_name" custom_application_build_dir="$build_dir/$custom_application_name" Now you can run the clone script $ ./clone.sh

After this you can continue with Compile.