Revert "Delete ROSApplication.md"

This reverts commit 069dec1.

Author: justincmfong

doc/3.Software/ROSApplication.md

@@ -0,0 +1,64 @@
+# Cross-compile and run a ROS application
+
+This document describes how to cross-compile and setup the environment to run a CORC app with ROS support. It assumes that you have a deployment target and a host machine.
+
+It assumes that you have ROS installed on both the host and target machines. For the target, the debian/ubuntu package `ros-base-dev` can be used.
+
+## ROS environment setup
+In order to run on both host and target, ROS should be configured. We assume that roscore will run on the host machine.
+On the host:
+```bash
+	$ export ROS_MASTER_UI=http://[host_ip]:11311
+	$ export ROS_HOSTNAME=[host_hostname]
+	$ export ROS_IP=[host_ip]
+```
+On the target:
+```bash
+	$ export ROS_MASTER_UI=http://[host_ip]:11311
+	$ export ROS_HOSTNAME=[target_hostname]
+	$ export ROS_IP=[target_ip]
+```
+>These can be added to the .bashrc of the host and target respectivelly to be automatically setup.
+
+>If the hostnames are not defined, edit the /etc/hosts files (see ROS [documentation](http://wiki.ros.org/ROS/Tutorials/MultipleRemoteMachines) or this [example](https://github.com/mktk1117/six_wheel_robot/wiki/Communication-between-Raspberry-Pi-and-PC-\(ROS\)) for more details).
+
+
+## Cross-compilation
+In order to cross-compile CORC with ROS support from the host machine, you first need to create a sysroot: a copy of the basic filesystem of the target. To do so, create a folder named `corc-target-sysroot`. Using scp or sftp, copy the following folders from the target to this folder:
+```bash
+	/usr/
+	/lib/
+```
+>It is recommended to do this on a minimal system to reduce the size of these folders. Typically graphical packages (xserver etc...) which may be installed by default on the BB distribution can be uninstall before.
+
+Once the files are copied, in a terminal, set the directory of this folder:
+```bash
+	$ export CORC_CMAKE_SYSROOT=/path/to/my/folder/corc-target-sysroot
+```
+
+Edit the `CMakeFileLists.txt` to select the app to build and ensure that the line `set(USE_ROS ON)` is NOT commented and set to ON.
+
+Cross-compile by passing the sysroot path argument to cmake (and the toolchain argument). In the root CANOpenRobotController:
+```bash
+	$ rm -r build && mkdir build && cd build/ && cmake -DCMAKE_SYSROOT=/path/to/my/folder/corc-target-sysroot -DCMAKE_TOOLCHAIN_FILE=../armhf.cmake ..
+	$ make -j8
+```
+Voila !
+
+## Run the app
+On the host machine, start ROS:
+```bash
+	$ roscore
+```
+In a second terminal, start rqt to visualise the active ROS graph:
+```bash
+	$ rqt
+```
+Plugins->Introspection->Node Graph.
+
+Once copied on the target, the APP can then be run normally, simply adding an extra command line parameter to specify the address of the master node:
+```bash
+	$ sudo X2DemoMachineApp __master:=$ROS_MASTER_URI
+```
+
+You should now see in rqt the nodes corresponding to the CORC app.