The application is developed on a Linux host machine and can then be deployed to the board.
You need any 64 bit Linux version (VM or standalone). We suggest using Ubuntu. Please make sure to have all necessary tools available.
$ sudo apt-get install make cmake git g++
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.
A git repository https://github.com/eeduro/eeduro-scripts hosted on GitHub contains useful build scripts. Fetch it on your cross development system with
$ git clone https://github.com/eeduro/eeduro-scripts.git eeros-project $ cd eeros-project
clone.sh script. This will clone all the necessary repositories.
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. When using the clone.sh script, the correct version is checked out per default and no additional step is necessary.
If not yet installed, the cross toolchain must be installed on the host machine with the following command
$ sudo apt-get install g++-4.9-arm-linux-gnueabihf
If this fails and your Linux version does not offer the right version of the cross toolchain in its repositories, you have to add xenial to your sources list, see https://askubuntu.com/questions/1036108/install-gcc-4-9-at-ubuntu-18-04.
To compile the library, change into:
$ cd librobotcontrol/libraries
and edit the
Makefile therein. Change the following two lines from
CC := gcc LINKER := gcc
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 roboticscape library can be compiled using make.
Change back into your project directory and start the compilation of EEROS, the hardware wrapper library, and the delta application with
Finally, load the executable onto the target (see notes below if you are doing this on a brand new board) with
The default password on the BeagleBone Blue Board is “temppwd”. Edit the
deploy.txt file to define which files should be downloaded.
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 /opt/eeros. Therefore, this folder must be present on the target or the copy fails. To create the folder, execute the following on the BeagleBone:
debian@beaglebone:$ sudo mkdir /opt/eeros debian@beaglebone:$ sudo chown debian:debian /opt/eeros/
Also, some links must be created. The system must find the eeros libraries to load them. The following symbolic links are needed:
debian@beaglebone:$ cd /usr/lib/ debian@beaglebone:$ sudo ln -s /opt/eeros/lib/libbbblueeeros.so.22.214.171.124 libbbblueeeros.so.126.96.36.199 debian@beaglebone:$ sudo ln -s libbbblueeeros.so.188.8.131.52 libbbblueeeros.so debian@beaglebone:$ sudo ln -s /opt/eeros/lib/libeeros.so.184.108.40.206 libeeros.so.220.127.116.11 debian@beaglebone:$ sudo ln -s libeeros.so.18.104.22.168 libeeros.so
Make sure the version information (….so.22.214.171.124) is not outdated! This can be checked by browsing the BeagleBoneBlue/install-armhf/lib/ folder on the development computer before copying the libraries to the target.
Next: Connect to the Target