As soon as you want to access hardware on your system you need a Hardware Library. Depending on the type of the hardware you have to install one of the libraries given below. Please keep in mind that these libraries are already included in our target images or get installed automatically if you follow the steps given in Use on the Host.

Clone the eeros simulator wrapper source repository:

$ git clone https://github.com/eeros-project/sim-eeros.git sim-eeros

Checkout a stable version of the wrapper:

$ cd sim-eeros
$ git checkout v1.0.2

Continue with Compile Manually.

Follow the installation instructions in http://flink-project.ch/ to install flink.
As a next step clone the eeros flink wrapper source repository:

$ git clone https://github.com/eeros-project/flink-eeros.git flink-eeros

Checkout a stable version of the wrapper:

$ cd flink-eeros
$ git checkout v1.0.3

Continue with Compile Manually.

Make sure to have the librobotcontrol installed on your host and target machine. It is already included in our SDK for the BeagleBone blue board. When this is done clone the eeros bbblue wrapper source repository:

$ git clone https://github.com/eeros-project/bbblue-eeros.git bbblue-eeros

Checkout a stable version of the wrapper:

$ cd bbblue-eeros
$ git checkout v1.3.1

Continue with Compile Manually.

Follow the installation instructions in http://www.comedi.org/ to install the comedi library.
When this is done clone the eeros comedi wrapper source repository:

$ git clone https://github.com/eeros-project/comedi-eeros.git comedi-eeros

Checkout a stable version of the wrapper:

$ cd comedi-eeros
$ git checkout master

Continue with Compile Manually.

Follow the installation instructions in http://www.ros.org/ to install ROS itself. We suggest using ROS2. However, you can also use ROS1.
After this you have to clone the eeros ROS wrapper source repository:

$ git clone https://github.com/eeros-project/ros-eeros.git ros-eeros

Checkout a stable version of the wrapper. For ROS2, this is:

$ cd ros-eeros
$ git checkout v.2.0.0

For ROS1, use the version v.1.0.1.
Continue with Compile Manually.

The detailed documentation about EtherCAT together with installation and setup information is given on OST Infoportal.

Use the predefined EtherCAT blocks within a control system, see Blocks for Interfacing with EtherCAT.

The detailed documentation about CANopen together with installation and setup information is given on https://gitlab.ost.ch/tech/inf/public/canopenlib. Use a specific tag or the master branch for latest version.

Use the predefined CAN blocks within a control system, see Blocks for Interfacing with CAN. Add -DUSE_CAN=TRUE to the cmake arguments when building EEROS to include an example using CANopen.

We use MODBUS for accessing sensor data. On Linux, use https://libmodbus.org/ for information about installing the library. For the examples in EEROS which use MODBUS to be built, you have to add -DUSE_MODBUS=TRUE to the cmake arguments when building EEROS.

When using the pixy camera (see PixyCam 2), you have to fetch and install its necessary library. Add -DUSE_PIXYCAM=TRUE to the cmake arguments when building EEROS to include an example with PixyCam.

When using the RealSense camera (see RealSense T256), you have to fetch and install its necessary library. Add -DUSE_REALSENSE=TRUE to the cmake arguments when building EEROS to include an example with RealSense T256.

When using a RPLidar (see RP Lidar), you have to fetch and install its necessary library. Add -DUSE_RPLIDAR=TRUE to the cmake arguments when building EEROS to include an example with RPLidar sensor. This argument will also fetch a driver from the external directory within EEROS.

When using a SBG Ellipse-A sensor (see SBG Ellipse-A), you have to fetch and install its necessary library. Add -DUSE_SBGECOMM=TRUE to the cmake arguments when building EEROS to include an example with Ellipse-A sensor.

When using ODrive motor controllers (see ODrive), you need a library with the external/odrive directory of EEROS. Build this library and install it. Add -DUSE_ODRIVE=TRUE to the cmake arguments when building EEROS to include an example controlling an odrive.