Apollo(v9.0.0) CyberRT

Target	CI Status
Ubuntu18.04 x86_64
Ubuntu20.04 x86_64
Ubuntu22.04 x86_64
Ubuntu24.04 x86_64
Ubuntu latest x86_64
Ubuntu18.04 arrch64
Ubuntu20.04 arrch64
Ubuntu22.04 arrch64
Ubuntu latest arrch64

1 Env

dependence

sudo apt update
sudo apt install -y uuid-dev libncurses5-dev python3-dev python3-pip
python3 -m pip install protobuf==3.14.0

2 Build

1. clone

git clone --single-branch --branch v9.0.0 https://github.com/minhanghuang/CyberRT.git
cd CyberRT

2. build third party

install

sudo python3 install.py
# sudo python3 install.py --platform <your-platform-machine> --install_prefix <your-install-path>

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_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

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_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.

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}
)