文章目录

• #1 CyberRT Standalone
• • #1.1 环境
  • #1.2 使用

#1 CyberRT Standalone

CyberRT仓库: https://github.com/minhanghuang/CyberRT

将CyberRT从Apollo拆分,使用Cmake编译, 不依赖Apollo独立运行

#1.1 环境

Ubuntu 18.04 
Ubuntu 20.04
Apollo 8.0.0
Cmake
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#1.2 使用

1. 安装依赖

sudo apt install libpoco-dev
sudo apt install uuid-dev
pip3 install protobuf
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2. 克隆代码

git clone git@github.com:minhanghuang/CyberRT.git
cd CyberRT
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3. 加载环境

third party(gflag gtest glog fastrtps fastcdr…)

// 拷贝环境到指定路径, 必须是/opt/cyber/env路径
sudo mkdir /opt/cyber
sudo cp -r env/ /opt/cyber/env
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根据自己的终端运行对应的脚本,不知道自己的terminal是bash还是zsh,运行echo $0查看输出结果

// 二选一
// bash
source /opt/cyber/env/setup.bash

// zsh
source /opt/cyber/env/setup.zsh

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4. 生成protobuf文件

/opt/cyber/env/bin/protoc -I=cyber/proto/ --cpp_out=cyber/proto cyber/proto/*.proto

/opt/cyber/env/bin/protoc -I=cyber/examples/proto/ –cpp_out=cyber/examples/proto cyber/examples/proto/*.proto

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5. 编译

mkdir build && cd build
cmake -DCMAKE_EXPORT_COMPILE_COMMANDS=ON ..
make
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6. 运行examples

• pub/sub

pub

source setup.bash
./cyber/examples/cyber_example_talker
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sub

source setup.bash
./cyber/examples/cyber_example_listener
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• server/client

server

source setup.bash
./cyber/examples/cyber_example_server
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client

source setup.bash
./cyber/examples/cyber_example_cilent
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