Beaglebone Black - Eclipse Remote Debugging, Ubuntu

I recently had to get my remote debugger working for a beaglebone black. Contrary to my post on MacOSX cross compile toolchain - I decided to use Ubuntu.

	#!/bin/bash
	# prereqs for cross compile
	sudo apt-get install -y build-essential
	sudo apt-get install -y libc6-armhf-cross
	sudo apt-get install -y libc6-dev-armhf-cross
	sudo apt-get install -y binutils-arm-linux-gnueabihf
	sudo apt-get install -y linux-libc-dev-armhf-cross
	sudo apt-get install -y libstdc++6-armhf-cross
	sudo apt-get install -y gcc-4.7-arm-linux-gnueabihf
	sudo apt-get install -y g++-4.7-arm-linux-gnueabihf
	# setup eclipse
	sudo apt-get install -y eclipse
	#################################################
	# Help > Install New Software
	# 1) http://download.eclipse.org/releases/indigo/
	# 2) Programming Languages:
	# C/C++ Development Tools
	# C/C++ Development Tools SDK
	# C/C++ Library API Documentation Hover Help
	# 3) General Purpose Tools:
	# Remote System Explorer End-User-Runtime
	# Remote System Explorer User Actions
	# Local Terminal
	# 4) Mobile and Device Development
	# Target Management Terminal
	#################################################
	# Window > Open Perspective > Other... > Remote System Explorer
	# [or...] Window > Show View > Other... > Filter: Remote
	# 1) New > Connection...
	# 2) Linux [Next]
	# 3) Host name and Connection name: BBB IP [Next]
	# 4) ssh.files [Next]
	# 5) processes.shell.linux [Next]
	# 6) ssh.shells [Next]
	# 7) ssh.terminals [Next]
	#################################################
	# Project > Properties
	# 1) C/C++ Build > Settings > Tool Settings tab
	# GCC C++ Compiler Command: arm-linux-gnueabihf-g++-4.7
	# GCC C Compiler Command: arm-linux-gnueabihf-gcc-4.7
	# GCC C++ Linker Command: arm-linux-gnueabihf-g++-4.7
	# GCC Assembler Command: arm-linux-gnueabihf-as
	# 2) C/C++ General > Path and Symbols > Includes tab
	# [Foreach, check make available to all and Move Up]
	# GNU C Add: /usr/arm-linux-gnueabihf/include
	# GNU C++ Add: /usr/arm-linux-gnueabihf/include/c++/4.7.3
	# 3) C/C++ General > Path and Symbols > Library Paths tab
	# Add: /usr/arm-linux-gnueabihf/lib
	#
	# setup remote debugger
	sudo apt-get install -y gdb-multiarch
	#################################################
	# In Eclipse
	#################################################
	# Remote System Explorer > BBB Connection > Ssh Terminals
	# Right-click > Launch Terminal
	#################################################
	# Terminal window:
	# 1) sudo apt-get install -y gdbserver
	# 2) gdbserver 192.168.x.x:yyyyy $APP_NAME
	#################################################
	# Run > Debug Configurations > Debugger tab
	# 0) C++ Remote Application [New]
	# 1) Main tab > GDB Debugger: gdb-multiarch
	# 2) Connection tab > IP: 192.168.x.x
	# 3) Connection tab > Port: yyyyy
	# 4) [Debug]

view raw bbb-setup-eclipse.sh hosted with ❤ by GitHub

Beast visual servoing on Youtube

I shared a video for Homebrew Robotics Club last week - where, Henry was the only member of the team to attend. 

Enjoy beast visual servoing and acquiring a sample - fully autonomously - while I log the data in a tethered fashion. Wifi also works really well for logging, but by this point we were prepped for the field day at WPI.  So, we had removed the wifi access point.

Beast is on Facebook

It seems that Neato has posted something about beast.

Oh the shameless product placement. :)

Largest accomplishment: 
We were the first team to successfully navigate around the telecast building! We displayed full obstacle avoidant behaviors with the use of my stereo camera as the primary sensor for visual odometry.

The platform is just 5 months old, but it works really well for an R&D project. Fun, complicated, and everything you need to stay interested in robotics type of project.

Improved stereo camera

New stereo camera mounted

Thanks again Onshape!

Thanks to the use of an awesome mill, and precise ME. I only need to create a shell for the new and improved mount... since, we're past the R&D stage.

Hot off the print bed, with support material. The Lulzbot works a ton better with the new enclosure I built for it. 

After removing support material:

And after mounting on the actual camera.  I think I'm getting pretty good and fitting like a glove, the first time out of the print box.  But it sure helps to have precision holes. Thanks Chuck!