A Sample Framework Based On Cyber RT

As the basic layer of the Apollo autonomous platform, Cyber provides data reliability and timeliness for the application (perception, planning, control, etc.), based on which you can create your own application layer according to your own situation.

Key benefits of using Apollo Cyber RT:

• Accelerate development
  • Well defined task interface with data fusion
  • Array of development tools
  • Large set of sensor drivers
• Simplify deployment
  • Efficient and adaptive message communication
  • Configurable user level scheduler with resource awareness
  • Portable with fewer dependencies
• Empower your own autonomous vehicles
  • The default open source runtime framework
  • Building blocks specifically designed for autonomous driving
  • Plug and play your own AD system

Environment Build

Let's Install Basical Library and Tools:

ARM Platform :

cd docker/build 
sudo bash cyber.aarch64.sh

X86 Platform:

cd docker/build
sudo bash cyber.x86_64.sh

Build Framework

Note:If you use ARM plarform, Please use debug not optimization mode

# in apollo_lite directory
bash apollo.sh build

Have a try on Cyber RT

Writing a Simple Talker and Listener (C++)

1.Create Talker

#include "cyber/cyber.h"
#include "cyber/examples/proto/examples.pb.h"
#include "cyber/time/rate.h"
#include "cyber/time/time.h"

using apollo::cyber::Rate;
using apollo::cyber::Time;
using apollo::cyber::examples::proto::Chatter;

int main(int argc, char *argv[]) {
  // init cyber framework
  apollo::cyber::Init(argv[0]);
  // create talker node
  auto talker_node = apollo::cyber::CreateNode("talker");
  // create talker
  auto talker = talker_node->CreateWriter<Chatter>("channel/chatter");
  Rate rate(1.0);
  while (apollo::cyber::OK()) {
    static uint64_t seq = 0;
    auto msg = std::make_shared<Chatter>();
    msg->set_timestamp(Time::Now().ToNanosecond());
    msg->set_lidar_timestamp(Time::Now().ToNanosecond());
    msg->set_seq(seq++);
    msg->set_content("Hello, apollo!");
    talker->Write(msg);
    AINFO << "talker sent a message!";
    rate.Sleep();
  }
  return 0;
}

2.Create Listener

#include "cyber/cyber.h"
#include "cyber/examples/proto/examples.pb.h"

void MessageCallback(
    const std::shared_ptr<apollo::cyber::examples::proto::Chatter>& msg) {
  AINFO << "Received message seq-> " << msg->seq();
  AINFO << "msgcontent->" << msg->content();
}

int main(int argc, char* argv[]) {
  // init cyber framework
  apollo::cyber::Init(argv[0]);
  // create listener node
  auto listener_node = apollo::cyber::CreateNode("listener");
  // create listener
  auto listener =
      listener_node->CreateReader<apollo::cyber::examples::proto::Chatter>(
          "channel/chatter", MessageCallback);
  apollo::cyber::WaitForShutdown();
  return 0;
}

More details about develop toolschain you can find here：CyberRT_Developer_Tools

Appendix I：Cyber RT Dependence

• Bazel
• Protobuf
• Glog
• Gtest
• Fast-rtps
• Pcl

Appendix II: Update

# open coredump
ulimit -c unlimited

# core dump to target directory
if [ -e /proc/sys/kernel ]; then
    echo "/apollo/data/core/core_%e.%p" | sudo tee /proc/sys/kernel/core_pattern > /dev/null
fi

# install protobuf
pip install protobuf

FAQ

1.ImportError:No module named proto.unit_test_pb2:

source scripts/apollo_base.sh