Migrate from Cyber official repository

Build/Installation

Dependencies

You can run the following command to install CyberRT pre-requisites:

bash tools/install/install_prereqs.sh

sudo privilege is needed, and by default Fast-DDS v1.5.0 is installed under /usr/local/fast-rtps/.

Install Bazel

bazel is needed to build CyberRT. Refer to Install bazel on Ubuntu for more details.

Run the following:

sudo apt install apt-transport-https curl gnupg
curl -fsSL https://bazel.build/bazel-release.pub.gpg | gpg --dearmor > bazel.gpg
sudo mv bazel.gpg /etc/apt/trusted.gpg.d/
echo "deb [arch=amd64] https://storage.googleapis.com/bazel-apt stable jdk1.8" | sudo tee /etc/apt/sources.list.d/bazel.list

Then install bazel using apt.

sudo apt update && sudo apt install bazel

Build

In the CyberRT root directory, run

source setup.bash
bazel build //...
bazel test //...

Run examples

Compile

Compile examples use:

bazel build //examples/cyber/helloworld_example/...

Run

Change GLOG_alsologtostderr from 0 to 1 in cyber/setup.bash
Run source cyber/setup.bash in current console.

OR add environmental variable in the terminal

export GLOG_alsologtostderr=1

In terminal #1 run

bazel run  //examples/cyber/helloworld_example:publisher

In terminal #2 run

bazel run //examples/cyber/helloworld_example:subscriber

DDS in CyberRT

Participant类

CyberRT将Fast DDS的eprosima::fastrtps::Participant封装成一个新类apollo::cyber::transport::Participant，代码位于./cyber/transport/rtps/participant.h及participan.cc中。apollo::cyber::transport::Participant类提供了创建Participant对象的方法fastrtps_participant()。

Participant对象的建立

Transport类是一个全局单例，在Transport类的构造函数中调用Transport::CreateParticipant()创建Participant对象，其他所有类的ParticipantPtr均指向这同一个对象。

fastrtps_participant()调用的时机

rtps_transmitter 每个Writer对象创建时，在其init()函数中调用Transport::CreateTransmitter()方法自动创建一个Transmitter对象，RTPSTransmitter类包含一个apollo::cyber::transport::Participant类指针participant_，在其enable()函数里调用publisher_ = eprosima::fastrtps::Domain::createPublisher(participant_->fastrtps_participant(), pub_attr)创建eprosima::fastrtps::publiisher
rtps_dispatcher rtps_dispatcher是全局单例，拥有apollo::cyber::transport::Participant类指针，负责接收消息并分发给对应的RTPSReceiver。dispatcher存有channel_id到eprosima::fastrtps::subscriber+subcriber_listener的map。RTPSReceiver在建立时调用enable()函数向RTPSdispatcher注册回调函数。
topology_manager 负责节点发现的类，包含channel_manager，node_manager和service_manager. 在topology_manager创建时，调用start_discovery(fastrtps_participant())向三个manager传递Participant指针。

Documents

Apollo Cyber RT Quick Start: Everything you need to know about how to start developing your first application module on top of Apollo Cyber RT.
Apollo Cyber RT Developer Tools: Detailed guidance on how to use the developer tools from Apollo Cyber RT.
Apollo Cyber RT API for Developers: A comprehensive guide to explore all the APIs of Apollo Cyber RT, with many concrete examples in source code.
Apollo Cyber RT FAQs: Answers to the most frequently asked questions about Apollo Cyber RT.
Apollo Cyber RT Terms: Commonly used terminologies in Cyber RT documentation and code.
Apollo Cyber RT Python Wrapper: Develop projects in Python.

efc-robot/cyberRT