Apollo CyberRT v10.0.0

Build Status

| Target | Actions Status | | ------------- | :-----: | | Ubuntu 18.04 x86_64 | | | Ubuntu 20.04 x86_64 | | | Ubuntu 22.04 x86_64 | | | Ubuntu 24.04 x86_64 | | | Ubuntu 18.04 arm64 | | | Ubuntu 20.04 arm64 | | | Ubuntu 22.04 arm64 | | | Ubuntu 24.04 arm64 | |

Table of Contents

1. Environment Setup
2. Build Instructions
3. Examples
4. Tools
5. Package Installation

Environment Setup

Before building, ensure your system has the following dependencies installed:

sudo apt update
sudo apt install -y wget g++ pkg-config autoconf automake \
                    libcurl4-openssl-dev uuid-dev libncurses5-dev \
                    libtool python3-dev python3-pip libtiff-dev \
                    libeigen3-dev libsqlite3-dev sqlite3

python3 -m pip install protobuf==3.14.0

| dependence | v9.0.0 | v10.0.0 | | :---: | :---: |:---:| | C++ STANDARD | C++14 | C++17 | | gcc/g++ | system default | 8.1+ | | FastDDS | v1.5.0 | v2.14.3 | | Protobuf | v3.14.0 | v3.14.0 | | bvar | - | UNKNOWN | | gperftools | - | gperftools-2.8 | | PROJ | - | 7.1.0 |

Build Instructions

1. Clone the Repository

git clone --single-branch --branch v10.0.0 https://github.com/minhanghuang/CyberRT.git

2. Install third-party Dependencies

Run the following command to install required third-party libraries:

python3 install.py
# Alternatively, specify platform, installation path, or proxy:
# python3 install.py --platform <your-platform-machine> --install_prefix <your-install-path> --proxy <github or gitee>  

For users in China, use Gitee to download dependencies:

# 国内用户可以通过gitee下载依赖库
python3 install.py --proxy gitee

After installation, set up the environment:

source install/setup.bash

3. Build CyberRT

Create a build directory and compile:

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

Examples

1. Publisher/Subscriber

• Publisher(talker)

source setup.bash
./cyber/examples/cyber_example_talker

• Subscriber(listener)

source setup.bash
./cyber/examples/cyber_example_listener

2. Component Example

Launch the component example:

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

3. Log Directory(optional)

The Cyber log storage path is similar to ROS and is saved in ~/.cyber/log

If you want to modify the log storage path, you can change the GLOG_log_dir environment variable as follows:

# export GLOG_log_dir=/path/to/cyber/log

Tools

CyberRT provides various tools for debugging and development:

1. Channel Tools

• List active channels

source setup.bash
cyber_channel list

Example output:

The number of channels is:  1
/apollo/test

• Echo channel messages

source setup.bash
cyber_channel echo /apollo/test

• More channel commands

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 Tools

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

3. Service Tools

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

4. Launch System

cyber_launch start share/examples/common_component_example/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.

Package Installation

cmake -DCMAKE_INSTALL_PREFIX=/you/install/path ..
make -j$(nproc)
make package
sudo dpkg -i package/*.deb

Example CMakeLists.txt usage:

# 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}
)

This README provides an overview of CyberRT's setup, build process, and tools. Feel free to contribute or raise issues for any improvements! 🚀