Apollo(v9.0.0) CyberRT
| Target | CI Status |
|---|---|
| Ubuntu18.04 x86-64 |  |
| Ubuntu20.04 x86-64 |  |
| Ubuntu22.04 x86-64 |  |
| Ubuntu latest x86-64 |  |
| Ubuntu18.04 arrch64 |  |
| Ubuntu20.04 arrch64 |  |
| Ubuntu22.04 arrch64 |  |
#1 Env
dependence
sudo apt update
sudo apt install -y libpoco-dev uuid-dev libncurses5-dev python3-dev python3-pip
python3 -m pip install protobuf==3.14.0#2 Build
- clone
git clone --single-branch --branch v9.0.0 https://github.com/minhanghuang/CyberRT.git
cd CyberRT- build third party
install
sudo ./scripts/install.shexport path
source install/setup.bash- build cyber
mkdir build && cd build
cmake ..
make -j$(nproc)#3 Examples
- pub/sub
talker
source setup.bash
./cyber/examples/cyber_example_talkerlistener
source setup.bash
./cyber/examples/cyber_example_listener- component
source setup.bash
cyber_launch start share/examples/common_component_example/common.launch
./cyber/examples/common_component_example/channel_prediction_writer
./cyber/examples/common_component_example/channel_test_writer#4 Tools
- channel
list
source setup.bash
cyber_channel list
# The number of channels is: 1
# /apollo/testecho
source setup.bash
cyber_channel echo /apollo/test
more ...
Commands:
cyber_channel list list active channels
cyber_channel info print information about active channel
cyber_channel echo print messages to screen
cyber_channel hz display publishing rate of channel
cyber_channel bw display bandwidth used by channel
cyber_channel type print channel type- node
Commands:
cyber_node list List active nodes.
cyber_node info Print node info.- service
Commands:
cyber_service list list active services
cyber_service info print information about active service- launch
cyber_launch start share/examples/common_component_example/common.launch- monitor
cyber_monitor- recorder
Commands:
cyber_recorder info Show information of an exist record.
cyber_recorder play Play an exist record.
cyber_recorder record Record same topic.
cyber_recorder split Split an exist record.
cyber_recorder recover Recover an exist record.#5 Packages
cmake -DCMAKE_INSTALL_PREFIX=/you/install/path ..
make -j$(nproc)
make package
sudo dpkg -i package/*.deb# CMakeLists.txt
find_package(PkgConfig REQUIRED)
pkg_check_modules(Cyber REQUIRED cyber)
include_directories(
${Cyber_INCLUDE_DIRS}
)
link_directories(${Cyber_LIB_DIRS})
target_link_libraries(${TARGET_NAME}
${Cyber_LIBRARIES}
)