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	-	-
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
cd CyberRT

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! 🚀