# cyberRT

**Repository Path**: tfp_tfh/cyber-rt

## Basic Information

- **Project Name**: cyberRT
- **Description**: Apollo cyberRT(v10.0.0;v8.0.0)，仓库cyberRT-cross-compile,采用CMakeLists.txt作为编译配置文件。支持aarch64 ARM交叉编译和PC编译。也包含第三方库的编译
- **Primary Language**: C++
- **License**: 0BSD
- **Default Branch**: master
- **Homepage**: https://gitee.com/tfp_tfh/cyber-rt
- **GVP Project**: No

## Statistics

- **Stars**: 2
- **Forks**: 1
- **Created**: 2023-05-24
- **Last Updated**: 2025-11-07

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# cyberRT

#### 介绍
基于apollo的cyber-rt，采用CMakeLists.txt作为编译配置文件。支持aarch64 ARM交叉编译和PC编译。也包含第三方库的编译

#### 软件架构
软件架构说明
请君移步到这个仓库：https://gitee.com/tfp_tfh/cyberRT-cross-compile.git

#### 安装教程

1.  download cyber-src:链接: https://pan.baidu.com/s/13dIfsnp5PY1d0nW6-hbBHA 提取码: cz36
2.  download third-party:链接: https://pan.baidu.com/s/1fcGVExDKTlTv1KGLzrHw7Q 提取码: esa5
3.  解压后,修改cat.py,else:下的if切换注释即可，运行 python3 cat.py
4.  set cmake_utils中的aar**文件，TRUE为交叉编译，FALSE为PC编译
5.  分别运行cyber-src下的./scripts/install.sh(PC) install_arm.sh(ARM-aarch64)。等待安装完成

#### 使用说明

## #3 Examples

1. pub/sub

> talker

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

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

2. component

```shell
source setup.bash
cyber_launch start share/examples/common.launch
./cyber/examples/common_component_example/channel_prediction_writer
./cyber/examples/common_component_example/channel_test_writer
```

## #4 Tools

1. channel

> list

```shell
source setup.bash
cyber_channel list

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

> echo
```shell
source setup.bash
cyber_channel echo /apollo/test
```
![example](docs/cyber_echo.png)

> more ...

```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

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

3. service

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

4. launch

```shell
cyber_launch start share/examples/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.
```

#### 参与贡献

1.  Fork 本仓库
2.  新建 Feat_xxx 分支
3.  提交代码
4.  新建 Pull Request


#### 特技

1.  使用 Readme\_XXX.md 来支持不同的语言，例如 Readme\_en.md, Readme\_zh.md
2.  Gitee 官方博客 [blog.gitee.com](https://blog.gitee.com)
3.  你可以 [https://gitee.com/explore](https://gitee.com/explore) 这个地址来了解 Gitee 上的优秀开源项目
4.  [GVP](https://gitee.com/gvp) 全称是 Gitee 最有价值开源项目，是综合评定出的优秀开源项目
5.  Gitee 官方提供的使用手册 [https://gitee.com/help](https://gitee.com/help)
6.  Gitee 封面人物是一档用来展示 Gitee 会员风采的栏目 [https://gitee.com/gitee-stars/](https://gitee.com/gitee-stars/)