Useful information about the Beagle Bone Blue can be found here. How to setup the wifi, copy your image to the onboard eMMC or any other FAQs can be found here.

There are already existing wrapper libraries to use EEROS with your Beagle Bone Blue. Switch to your current working directory

$ cd /path/to/working/directory

an clone the following git repository.

$ git clone https://github.com/ntb-ch/BeagleBoneBlue.git

Get into that cloned folder and run the shell script

$cd BeagleBoneBlue
$ ./clone.sh

this will clone all the required packages to run EEROS on your Beagle Bone Blue. First you have to build a running version of the Robotics Cape library for your target device. To do that, switch to the robitics_cape folder

$cd robotics_cape_installer/libraries

and edit its Makefile.

$ nano Makefile

Find the lines

CC := gcc
LINKER := gcc

and change them to

CC := arm-linux-gnueabihf-gcc-4.9
LINKER := arm-linux-gnueabihf-gcc-4.9

This is necassary because we work on the host and must make sure to choose the right cross compiler for our target. If you do not have this compiler on your host, you can get it with

$ sudo apt-get install g++-4.9-arm-linux-gnueabihf

At time of writing the current version of the robitics cape library is 0.4.0. The preinstalled version on your Beagle Bone Blue is 0.3.4. To use the same version on your host and target checkout version 0.3.4

$ git checkout v0.3.4

Now you can build the robotics cape library with

$ make

Change back to your BeagleBoneBlue git repository and run the make shellscript

$ cd /path/to/working/directory/BeagleBoneBlue
$ ./make.sh

This will build EEROS for your target system and also builds a small EEROS application named myApp. SSH to your target and create the required folders (default password for “debian” is “temppwd”)

$ ssh debian@192.168.7.2
$ sudo mkdir /opt/eeros
$ sudo chmod +777 /opt/eeros
$ mkdir /opt/eeros/bin
$ mkdir /opt/eeros/lib

To copy or deploy the necassary files to your target run

$ ./deploy.sh

Run the myApp application

$ cd /opt/eeros/bin
$ sudo ./myApp -c HwConfigBBBlue.json

If the libraries have not been copied to the target, copy them by hand to the right place

$ scp ./build-armhf/libbbblueeeros.so debian@192.168.7.2:/opt/eeros/lib
$ scp ./build-armhf/libeeros.so.0.0.0.0 debian@192.168.7.2:/opt/eeros/lib
$ scp ./build-armhf/myApp/myApp debian@192.168.7.2:/opt/eeros/bin
$ scp ./myApp/HwConfigBBBlue.json debian@192.168.7.2:/opt/eeros/bin

On your target link both libraries to /usr/lib

$ sudo ln -s /opt/eeros/bin/libeeros.so.0.0.0.0 /usr/lib/libeeros.so.0.0.0.0
$ sudo ln -s /opt/eeros/bin/libeeros.so.0.0.0.0 /usr/lib/libeeros.so.0.0
$ sudo ln -s /opt/eeros/bin/libeeros.so.0.0.0.0 /usr/lib/libeeros.so
$ sudo ln -s /opt/eeros/bin/libbbblueeeros.so /usr/lib/libbbblueeeros.so

Now you should be able to run the myApp application.

The Beagle Bone Blue comes with a preinstalled Debian 8 with Kernel 4.4.54-ti-r93 or similar. Do not upgrade to Debian 9