Useful information about the board can be found under BeagleBone Blue.

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 dynamically load them. The following symbolic links are needed:

debian@beaglebone:$ cd /usr/lib/
debian@beaglebone:$ sudo ln -s /opt/eeros/lib/libbbblueeeros.so.1.0.0.0 libbbblueeeros.so.1.0.0.0
debian@beaglebone:$ sudo ln -s libbbblueeeros.so.1.0.0.0 libbbblueeeros.so
debian@beaglebone:$ sudo ln -s /opt/eeros/lib/libeeros.so.1.0.0.0 libeeros.so.1.0.0.0
debian@beaglebone:$ sudo ln -s libeeros.so.1.0.0.0 libeeros.so

Make sure the version information (….so.1.0.0.0) is not outdated! This can be checked by browsing the BeagleBoneBlue/install-armhf/lib/ folder.

Check if there is already a RT-Kernel:

uname -r

If not, download:

sudo apt-get install linux-image-4.4.49-ti-rt-r89

Do not use a newer one. Robotics Cape won't work anymore (ERROR: missing PINMUX driver).

Reboot and delete the old kernel:

sudo apt remove --purge linux-image-4.4.54-ti-r93