Core

Core is a fork of Apollo cyber, a publish-subscribe system used as middleware for autonomous driving.

Benchmark

Latency of publish and subscribe messages.

How to build

1. Deploy build env

sudo bash scripts/deploy/build.sh

2. Run the build script

bash scripts/build.sh

Example

1. Set Environment Variable

   source scripts/env/runtime.bash

2. Run the Publisher and Subscriber

   • In the first terminal, run ./bazel-bin/cyber/examples/listener to start the subscriber program.
   • In the second terminal, run ./bazel-bin/cyber/examples/talker to start the publisher program.

3. Check the log in data/log