damonChenzf07 / CyberRT

Baidu Apollo(v8.0.0) CyberRT Framework CMake Build

Apollo(v8.0.0) CyberRT

#1 Env

support os

Ubuntu18
Ubuntu20

dependence

sudo apt install libpoco-dev
sudo apt install uuid-dev
sudo apt install libncurses5-dev
sudo apt install python3.6-dev
# Ubuntu18 : sudo apt install python3.6-dev
# Ubuntu20 : sudo apt install python3.9-dev
pip3 install protobuf

#2 Build

1. clone

git clone --single-branch --branch v8.0.0  https://github.com/minhanghuang/CyberRT.git
cd CyberRT

2. build third party

install

./scripts/install.sh

export path

source install/setup.bash

3. build cyber

mkdir build && cd build
cmake ..
make -j$(nproc)

#3 Examples

1. pub/sub

talker

source setup.bash
./cyber/examples/cyber_example_talker

listener

source setup.bash
./cyber/examples/cyber_example_listener

2. 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

#4 Tools

1. 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

2. node

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

3. service

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

4. launch

cyber_launch start share/examples/common.launch

5. monitor

cyber_monitor

6. 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.

#5 Package

cmake -DCMAKE_INSTALL_PREFIX=/you/install/path ..
make
make package
sudo dpkg -i package/*.deb