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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
  1. 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