Introduction

Apollo Cyber RT is an open source, high performance runtime framework designed specifically for autonomous driving (AD) scenarios. Based on a centralized computing model, it is greatly optimized for high concurrency, low latency, and high throughput in autonomous driving.

During the last few years of development of AD technologies, we have learned a lot from our previous experience with Apollo. The industry is evolving and so is Apollo. Going forward, Apollo has already moved from development to production. With volume deployment in real world, we see demands for the highest level of robustness and performance. That’s why we spent years building and perfecting Apollo Cyber RT, which addresses those requirements of AD solutions.

Key benefits of using Apollo Cyber RT:

Accelerate development
- Well defined task interface with data fusion
- Array of development tools
- Large set of sensor drivers
Simplify deployment
- Efficient and adaptive message communication
- Configurable user level scheduler with resource awareness
- Portable with fewer dependencies
Empower your own autonomous vehicles
- The default open source runtime framework
- Building blocks specifically designed for AD scenarios
- Plug and play your own AD system

Build/Installation

Dependencies

You can run the following command to install CyberRT pre-requisites:

bash tools/install/install_prereqs.sh

sudo privilege is needed, and by default Fast-DDS is installed under /usr/local/fast-rtps/.

Build

source setup.bash
bazel build //...
bazel test //...

Release Build

Binary releases for CyberRT is still a Work-In-Progress. Contribution is highly appreciated.

Documents

Apollo Cyber RT Quick Start: Everything you need to know about how to start developing your first application module on top of Apollo Cyber RT.
Apollo Cyber RT Developer Tools: Detailed guidance on how to use the developer tools from Apollo Cyber RT.
Apollo Cyber RT API for Developers: A comprehensive guide to explore all the APIs of Apollo Cyber RT, with many concrete examples in source code.
Apollo Cyber RT FAQs: Answers to the most frequently asked questions about Apollo Cyber RT.
Apollo Cyber RT Terms: Commonly used terminologies in Cyber RT documentation and code.
Apollo Cyber RT Python Wrapper: Develop projects in Python.

wjbbupt / CyberRT