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Cyber

你需要知道的关于 Apollo Cyber 的一切。

• Introduction
• Documents
• 快速入门
  • How to Create and Run a new Component in Cyber RT
    • Set up directry layout
    • Implement the sample component class
    • Configuration setup
    • Launch the component
  • Apollo Cyber RT Terminologies
    • Component
    • Channel
    • Task
    • Node
    • Reader/Writer
    • Service/Client
    • Parameter
    • Service discovery
    • CRoutine
    • Scheduler
    • Message
    • Dag file
    • Launch files
    • Record file
  • Apollo Cyber RT FAQs
    • What is Apollo Cyber RT?
    • Why did we decide to work on a new runtime framework?
    • What are the advantages of the new runtime framework?
    • Can we still use the data that we have collected?
    • Will you continue to support ROS?
    • Will Apollo Cyber RT affect regular code development?
    • Recommended setup for Apollo Cyber RT
    • How to enable SHM to decrease the latency?
    • How to use the no serialization message?
    • How to configure multiple hosts communication?
• 教程
  • 1. Cyber RT API for Developers
    • 1.1. Table of Contents
    • 1.2. Talker-Listener
    • 1.3. Service Creation and Use
    • 1.4. Parameter Service
    • 1.5. Log API
    • 1.6. Building a module based on Component
    • 1.7. Launch
    • 1.8. Timer
    • 1.9. Time API
    • 1.10. Record file: Read and Write
    • 1.11. API Directory
    • 1.12. Writer API
    • 1.13. Client API
    • 1.14. Parameter API
    • 1.15. Timer API
    • 1.16. Time API
    • 1.17. Duration API
    • 1.18. Rate API
    • 1.19. RecordReader API
    • 1.20. RecordWriter API
  • 2. Cyber RT Python
    • 2.1. 1. Background
    • 2.2. 2. Cyber RT Python Interfaces
    • 2.3. 3. Overview of Python Interfaces in Cyber RT
    • 2.4. 4. Examples
  • 3. Apollo Cyber RT Developer Tools
    • 3.1. Cyber_visualizer
    • 3.2. Cyber_monitor
    • 3.3. Get familiar with UI of cyber_monitor
    • 3.4. Cyber_recorder
    • 3.5. rosbag_to_record
  • 4. Cyber RT 调度
    • 4.1. 1. 调度策略
    • 4.2. 2. classic策略
    • 4.3. 3. choreography策略
    • 4.4. 4. 默认配置说明
    • 4.5. 5. 进程加载调度配置文件示例
    • 4.6. 6. 调度策略切换
• 高级专题
  • How to Develop Cyber RT inside Docker on Both x86_64 and ARM64
    • Build and Test Cyber RT inside Docker
  • Migration guide from Apollo ROS
    • Build system
    • Folder structure
    • Update source code
    • Tools mapping
    • ROS bag data migration
  • 4. Cyber RT 调度
    • 4.1. 1. 调度策略
    • 4.2. 2. classic策略
    • 4.3. 3. choreography策略
    • 4.4. 4. 默认配置说明
    • 4.5. 5. 进程加载调度配置文件示例
    • 4.6. 6. 调度策略切换
• Cyber 范例
  • Common Component Example of the CyberRT framework
    • How to Build
    • How to Run
  • Cyber RT Python API : An Example
    • Step 1: Write your own code.
    • Step 2: Write Python rule for Bazel to build
    • Step 3: Build and run the demo program
    • More Examples …
• API 参考
  • C++ API
    • cyber/node/node.h
    • cyber/node/reader_base.h
    • cyber/node/reader.h
    • cyber/node/writer_base.h
    • cyber/node/writer.h
    • cyber/node/node_channel_impl.h
    • cyber/node/node_service_impl.h
    • cyber/parameter/parameter.h
    • cyber/parameter/parameter_server.h
    • cyber/parameter/parameter_client.h
    • cyber/service/service_base.h
    • cyber/service/service.h
    • cyber/service/client_base.h
    • cyber/service/client.h
    • cyber/service_discovery/specific_manager/manager.h
    • cyber/service_discovery/specific_manager/channel_manager.h
    • cyber/service_discovery/specific_manager/node_manager.h
    • cyber/service_discovery/specific_manager/service_manager.h
    • cyber/service_discovery/topology_manager.h
    • cyber/component/component.h
    • cyber/component/timer_component.h
    • cyber/logger/async_logger.h
    • cyber/timer/timer.h
    • cyber/time/time.h
    • cyber/record/header_builder.h
    • cyber/record/record_base.h
    • cyber/record/record_message.h
    • cyber/record/record_reader.h
    • cyber/record/record_writer.h
    • cyber/record/record_viewer.h
  • Python API
    • python/cyber_py3/cyber.py
    • python/cyber_py3/record.py
    • python/cyber_py3/cyber_time.py
    • python/cyber_py3/cyber_timer.py
    • python/cyber_py3/parameter.py

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