虚拟机搭建Apollo cyber rt环境

1：git clone源码或者下载zip

$ git clone https://github.com/ApolloAuto/apollo.git

2：安装docker

$ sudo apt-get update


$ sudo apt-get install \
    ca-certificates \
    curl \
    gnupg \
    lsb-release


$ curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo gpg --dearmor -o /usr/share/keyrings/docker-archive-keyring.gpg


$ echo \
  "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/docker-archive-keyring.gpg] https://download.docker.com/linux/ubuntu \
  $(lsb_release -cs) stable" | sudo tee /etc/apt/sources.list.d/docker.list > /dev/null


$ sudo apt-get update


$ sudo apt-get install docker-ce docker-ce-cli containerd.io

测试

$ sudo docker run hello-world

3：进入docker环境

$ cd apollo-master

$ sudo docker/scripts/cyber_start.sh

$ sudo docker/scripts/cyber_into.sh

$ sudo ./apollo.sh build cyber

3：测试cyber rt通信，打开三个终端都进入Apollo的docker下

打开①终端

$ sudo docker/scripts/cyber_into.sh

$ source cyber/setup.bash



$ export GLOG_alsologtostderr=1



$ cyber_launch start cyber/examples/common_component_example/common.launch

打开②终端

$ sudo docker/scripts/cyber_into.sh

$ source cyber/setup.bash

$ export GLOG_alsologtostderr=1

$ /apollo/bazel-bin/cyber/examples/common_component_example/channel_test_writer

打开③终端

$ sudo docker/scripts/cyber_into.sh

$ source cyber/setup.bash

$ export GLOG_alsologtostderr=1

$ /apollo/bazel-bin/cyber/examples/common_component_example/channel_prediction_writer

然后在①终端下可看到输出信息

$ I0331 16:49:34.736016 1774773 common_component_example.cc:25] [mainboard]Start common component Proc [1094] [766]

I0331 16:49:35.069005 1774775 common_component_example.cc:25] [mainboard]Start common component Proc [1095] [767]

I0331 16:49:35.402289 1774783 common_component_example.cc:25] [mainboard]Start common component Proc [1096] [768]