cshang412 / CyberRT

Baidu Apollo CyberRT CMake Build

Apollo(v7.0.0) Cyber

#1 env

Ubuntu18

sudo apt install libpoco-dev
sudo apt install uuid-dev
sudo apt install libncurses5-dev
// required libpython3.x.so
sudo apt install python3.6-dev 
pip3 install protobuf

#2 build

1. download

git clone https://github.com/minhanghuang/CyberRT.git
cd CyberRT

2. export library path

third party(gflag gtest glog fastrtps fastcdr...)

sudo mkdir /opt/cyber
sudo cp -r env/ /opt/cyber/env

// bash 
source /opt/cyber/env/setup.bash

// zsh 
source /opt/cyber/env/setup.zsh

3. generate protobuf

/opt/cyber/env/bin/protoc -I=cyber/proto/ --cpp_out=cyber/proto --python_out=cyber/proto cyber/proto/*.proto

/opt/cyber/env/bin/protoc -I=cyber/examples/proto/ --cpp_out=cyber/examples/proto cyber/examples/proto/*.proto

4. build

mkdir build && cd build
cmake -DCMAKE_EXPORT_COMPILE_COMMANDS=ON ..
make 

5. run examples

• pub/sub

talker

source setup.bash
./cyber/examples/cyber_example_talker

listener

source setup.bash
./cyber/examples/cyber_example_listener

• server/client

server

source setup.bash
./cyber/examples/cyber_example_server

client

source setup.bash
./cyber/examples/cyber_example_cilent

• component

source setup.bash
cyber_launch start share/examples/common.launch
./cyber/examples/common_component_example/channel_prediction_writer
./cyber/examples/common_component_example/channel_test_writer

#3 tools

• channel

list

source setup.bash
cyber_channel list

// The number of channels is:  1
// /apollo/test

echo

source setup.bash
cyber_channel echo /apollo/test

more ...

Commands:
	cyber_channel list	list active channels
	cyber_channel info	print information about active channel
	cyber_channel echo	print messages to screen
	cyber_channel hz	display publishing rate of channel
	cyber_channel bw	display bandwidth used by channel
	cyber_channel type	print channel type

• node

Commands:
	cyber_node list 	List active nodes.
	cyber_node info 	Print node info.

• service

Commands:
	cyber_service list	list active services
	cyber_service info	print information about active service

• launch

cyber_launch start share/examples/common.launch

• monitor

cyber_monitor

• recorder

Commands: 
  	cyber_recorder info	Show information of an exist record.
	cyber_recorder play	Play an exist record.
	cyber_recorder record	Record same topic.
	cyber_recorder split	Split an exist record.
	cyber_recorder recover	Recover an exist record.

#4 打包安装

cmake -DCMAKE_INSTALL_PREFIX=安装路径 ..
make 
make package
sudo dpkg -i package/*.deb