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Baidu Apollo(v8.0.0) CyberRT Framework CMake Build

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Apollo(v8.0.0) CyberRT

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
  1. build third party

install

./scripts/install.sh

export path

source install/setup.bash
  1. 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
  1. 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

example

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
  1. node
Commands:
	cyber_node list 	List active nodes.
	cyber_node info 	Print node info.
  1. service
Commands:
	cyber_service list	list active services
	cyber_service info	print information about active service
  1. launch
cyber_launch start share/examples/common.launch
  1. monitor
cyber_monitor
  1. 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

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  • C++ 84.0%
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