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#1 CyberRT 单独安装

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 
Apollo 7.0.0
Cmake

#1.2 使用

1. 安装依赖

sudo apt install libpoco-dev
sudo apt install uuid-dev

2. 克隆代码

git clone git@github.com:minhanghuang/CyberRT.git
cd CyberRT

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

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

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

5. 编译

mkdir build && cd build
cmake -DCMAKE_EXPORT_COMPILE_COMMANDS=ON ..
make

6. 运行examples

• pub/sub

pub

export GLOG_alsologtostderr=1
export CYBER_PATH=cyber/
./cyber/examples/cyber_example_talker

sub

export GLOG_alsologtostderr=1
export CYBER_PATH=cyber/
./cyber/examples/cyber_example_listener

• server/client

server

export GLOG_alsologtostderr=1
export CYBER_PATH=cyber/
./cyber/examples/cyber_example_server

client

export GLOG_alsologtostderr=1
export CYBER_PATH=cyber/
./cyber/examples/cyber_example_cilent