Cyber环境搭建（非docker环境下）

1.替换阿里源

2.安装cmake3.12

1.卸载已经安装的旧版的CMAKE

sudo apt-get autoremove cmake

2.文件下载解压

wget https://cmake.org/files/v3.12/cmake-3.12.2-Linux-x86_64.tar.gz
tar zxvf cmake-3.12.2-Linux-x86_64.tar.gz 

3.进入cmake目录

cd cmake-3.12.2
sudo ./bootstrap
sudo make
sudo make install

4.查看版本是否安装成功

cmake --version

3.安装tinyxml2

1.下载tinyxml2

git clone https://github.com/leethomason/tinyxml2.git

2.进入相应目录并编译

dd tinyxml2/ cmake . make

3.测试版本的准确性(Fail=0为正确)

./xmltest

4.安装

sudo make install

4.安装eigen3

sudo apt-get install libeigen3-dev

5.安装fastCDR

fast-CDR下载地址
https://download.csdn.net/download/qq_35066464/12689294

mkdir Fast-CDR/build && cd Fast-CDR
cmake ..
cmake --build . --target install

6.安装protobuf

protobuf3.5.1下载地址
https://download.csdn.net/download/qq_35066464/12689304

sudo apt-get install autoconf automake libtool curl makr g++ unzip
unzip protobuf-3.5.1.1.zip
cd protobuf-3.5.1.1
git submodule update --init --recursive
./autogen.sh
./configure
make
make check
sudo make install
sudo ldconfig

7.安装fastrtps

fastrtps下载地址
https://download.csdn.net/download/qq_35066464/12689296

1.安装依赖库

Sudo apt-get install libasio-dev libtinyxml2-dev
Sudo apt install libssl-dev

2.修改cmake文件

找到add_subdirectory(examples)注释

3.编译

cmake -DCMAKE_INSTALL_PREFIX=/usr/local -DBUILD_SHARED_LIBS=ON ..
make

4.安装

sudo make install

8.安装cyber

apollo cyber下载地址
https://download.csdn.net/download/qq_35066464/12689285

source /usr/local/bin/cyber/setup.bash

最后感谢ll15982534415博主的帮助。