getting_started:install_and_setup_development_environment:use_with_cb20
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getting_started:install_and_setup_development_environment:use_with_cb20 [2019/10/11 15:52] – graf | getting_started:install_and_setup_development_environment:use_with_cb20 [Unknown date] (current) – removed - external edit (Unknown date) 127.0.0.1 | ||
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- | ====== Use on a cb20 Board ====== | ||
- | The following is a step-by-step procedure to get started using EEROS on the [[https:// | ||
- | 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 [[https:// | ||
- | |||
- | Fetch the [[https:// | ||
- | < | ||
- | $ git clone https:// | ||
- | $ cd eeros-project | ||
- | </ | ||
- | Edit the file '' | ||
- | < | ||
- | use_simulator=false | ||
- | use_flink=false | ||
- | use_bbblue=true | ||
- | use_comedi=false | ||
- | use_ros=false | ||
- | use_custom_application=true | ||
- | </ | ||
- | Now you can run the '' | ||
- | < | ||
- | $ ./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. | ||
- | |||
- | To compile the library, change into: | ||
- | < | ||
- | $ cd robotics_cape_installer/ | ||
- | </ | ||
- | and edit the '' | ||
- | < | ||
- | 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. | ||
- | |||
- | 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 | ||
- | </ | ||
- | Then, the roboticscape library is compiled using make. | ||
- | < | ||
- | $ make | ||
- | </ | ||
- | |||
- | Change back into your project directory and start the compilation of EEROS, the hardware wrapper library, and the demo application with | ||
- | < | ||
- | $ ./make.sh | ||
- | </ | ||
- | |||
- | Finally, load the executable onto the target (see notes below if you are doing this on a brand new board) with | ||
- | < | ||
- | $ ./deploy.sh | ||
- | </ | ||
- | The default password on the BeagleBone Blue Board is " | ||
- | Use ssh to get on the target and change into ''/ | ||
- | Start the demo application with | ||
- | < | ||
- | $ sudo ./demo -c HwConfigBBBlue.json | ||
- | </ | ||
- | |||
- | Now, everything is ready. The development can be started in the **BeagleBoneBlue/ | ||
- | |||
- | ==== Notes ==== | ||
- | When the BeagleBone Blue Board is used the first time (never used with EEROS before or a brand new BeagleBone Blue / Image), some initial setup steps are needed. The script **deploy.sh** will copy the executable and libraries to **/ | ||
- | < | ||
- | debian@beaglebone: | ||
- | debian@beaglebone: | ||
- | </ | ||
- | |||
- | Also, some links must be created. The system must find the eeros libraries to dynamically load them. The following symbolic links are needed: | ||
- | < | ||
- | debian@beaglebone: | ||
- | debian@beaglebone: | ||
- | debian@beaglebone: | ||
- | debian@beaglebone: | ||
- | debian@beaglebone: | ||
- | </ | ||
- | Make sure the version information (....so.1.0.0.0) is not outdated! This can be checked by browsing the **BeagleBoneBlue/ |