# CyberRT

**Repository Path**: minhanghuang/CyberRT

## Basic Information

- **Project Name**: CyberRT
- **Description**: Apollo(v10.0.0) CyberRT Cmake Build

GitHub 仓库: https://github.com/minhanghuang/CyberRT
- **Primary Language**: C++
- **License**: Apache-2.0
- **Default Branch**: v10.0.0
- **Homepage**: https://github.com/minhanghuang/CyberRT
- **GVP Project**: No

## Statistics

- **Stars**: 18
- **Forks**: 17
- **Created**: 2022-05-04
- **Last Updated**: 2025-09-08

## Categories & Tags

**Categories**: Uncategorized

**Tags**: Cyber, apollo, self-driving

## README

# Apollo CyberRT v10.0.0

![CyberRT](https://raw.githubusercontent.com/wiki/minhanghuang/CyberRT/docs/CyberRT.gif)

## Build Status

| Target                |  Actions Status   |
| -------------         | :-----:           |
| Ubuntu 18.04 x86_64   | [![Ubuntu 18.04 x86_64 build v10.0.0](https://github.com/minhanghuang/CyberRT/actions/workflows/x86-build-ubuntu18-v10.0.0.yaml/badge.svg?branch=v10.0.0)](https://github.com/minhanghuang/CyberRT/actions/workflows/x86-build-ubuntu18-v10.0.0.yaml) |
| Ubuntu 20.04 x86_64  | [![Ubuntu 20.04 x86_64 build v10.0.0](https://github.com/minhanghuang/CyberRT/actions/workflows/x86-build-ubuntu20-v10.0.0.yaml/badge.svg?branch=v10.0.0)](https://github.com/minhanghuang/CyberRT/actions/workflows/x86-build-ubuntu20-v10.0.0.yaml) |
| Ubuntu 22.04 x86_64  | [![Ubuntu 22.04 x86_64 build v10.0.0](https://github.com/minhanghuang/CyberRT/actions/workflows/x86-build-ubuntu22-v10.0.0.yaml/badge.svg?branch=v10.0.0)](https://github.com/minhanghuang/CyberRT/actions/workflows/x86-build-ubuntu22-v10.0.0.yaml) |
| Ubuntu 24.04 x86_64  | [![Ubuntu 24.04 x86_64 build v10.0.0](https://github.com/minhanghuang/CyberRT/actions/workflows/x86-build-ubuntu24-v10.0.0.yaml/badge.svg?branch=v10.0.0)](https://github.com/minhanghuang/CyberRT/actions/workflows/x86-build-ubuntu24-v10.0.0.yaml) |
| Ubuntu 18.04 arm64 | [![Ubuntu 18.04 arm64 build v10.0.0](https://github.com/minhanghuang/CyberRT/actions/workflows/arm64-build-ubuntu18-v10.0.0.yaml/badge.svg?branch=v10.0.0)](https://github.com/minhanghuang/CyberRT/actions/workflows/arm64-build-ubuntu18-v10.0.0.yaml) |
| Ubuntu 20.04 arm64 | [![Ubuntu 20.04 arm64 build v10.0.0](https://github.com/minhanghuang/CyberRT/actions/workflows/arm64-build-ubuntu20-v10.0.0.yaml/badge.svg?branch=v10.0.0)](https://github.com/minhanghuang/CyberRT/actions/workflows/arm64-build-ubuntu20-v10.0.0.yaml) |
| Ubuntu 22.04 arm64 | [![Ubuntu 22.04 arm64 build v10.0.0](https://github.com/minhanghuang/CyberRT/actions/workflows/arm64-build-ubuntu22-v10.0.0.yaml/badge.svg?branch=v10.0.0)](https://github.com/minhanghuang/CyberRT/actions/workflows/arm64-build-ubuntu22-v10.0.0.yaml) |
| Ubuntu 24.04 arm64 | [![Ubuntu 24.04 arm64 build v10.0.0](https://github.com/minhanghuang/CyberRT/actions/workflows/arm64-build-ubuntu24-v10.0.0.yaml/badge.svg?branch=v10.0.0)](https://github.com/minhanghuang/CyberRT/actions/workflows/arm64-build-ubuntu24-v10.0.0.yaml) |

## Table of Contents  
1. [Environment Setup](#environment-setup)
2. [Build Instructions](#build-instructions)
3. [Examples](#examples)
4. [Tools](#tools)
5. [Package Installation](#package-installation)

## Environment Setup

Before building, ensure your system has the following dependencies installed:
```shell
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
```
```shell
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
```shell
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:
```shell
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:
```shell
# 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:
```shell
source install/setup.bash
```

3. Build CyberRT

Create a build directory and compile:
```shell
mkdir build && cd build
cmake ..
make -j$(nproc)
```

## Examples

1. Publisher/Subscriber

- Publisher(talker)

```shell
source setup.bash
./cyber/examples/cyber_example_talker
```

- Subscriber(listener)

```shell
source setup.bash
./cyber/examples/cyber_example_listener
```

2. Component Example

Launch the component example:
```shell
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:

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

## Tools

CyberRT provides various tools for debugging and development:

1. Channel Tools

- List active channels

```shell
source setup.bash
cyber_channel list
```

Example output:

```shell
The number of channels is:  1
/apollo/test
```

- Echo channel messages
```shell
source setup.bash
cyber_channel echo /apollo/test
```

![echo](https://raw.githubusercontent.com/wiki/minhanghuang/CyberRT/docs/cyber_echo.png)

- More channel commands

```shell
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

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

3. Service Tools

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

4. Launch System

```shell
cyber_launch start share/examples/common_component_example/common.launch
```

5. Monitor

```shell
cyber_monitor
```

6. Recorder

```shell
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

```shell
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! 🚀