Common Component Example of the CyberRT framework

How to Build

./apollo.sh build cyber

Or if you use Bazel directly,

bazel build //cyber/examples/common_component_example/...

How to Run

Enable logging to stderr

• Change GLOG_alsologtostderr from 0 to 1 in cyber/setup.bash
• Run source cyber/setup.bash in current console.

export GLOG_alsologtostderr=1

Start the sample component

cyber_launch start cyber/examples/common_component_example/common.launch

Or

mainboard -d cyber/examples/common_component_example/common.dag

Start the writer nodes

Open two more terminals, run the following commands respectively.

bazel run  //cyber/examples/common_component_example:channel_test_writer

and ...

bazel run //cyber/examples/common_component_example:channel_prediction_writer

Now you should see console output of the CommonComponentSample example from the first terminal.