Introduction

Apollo’s Cyber RT is an open source runtime framework designed specifically for autonomous driving scenarios. Based on a centralized computing model, it is highly optimized for performance, latency, and data throughput.

QUICKSTART

• Getting started
• Cyber RT Terms
• F.A.Q.

TUTORIALS

• Cyber RT API tutorial
  • Table of Contents
  • Talker-Listener
  • Service Creation and Use
  • Parameter Service
  • Log API
  • Building a module based on Component
  • Launch
  • Timer
  • Time API
  • Record file: Read and Write
  • API Directory
  • Writer API
  • Client API
  • Parameter API
  • Timer API
  • Time API
  • Duration API
  • Rate API
  • RecordReader API
  • RecordWriter API
• Python API tutorial
  • Talker and listener
  • Record
  • Client and service
• Cyber RT Developer Tools
  • Cyber_visualizer
  • Cyber_monitor
  • Get familiar with UI of cyber_monitor
  • Cyber_recorder
  • rosbag_to_record

ADVANCED TOPICS

• Migration guide from Apollo ROS
  • Build system
  • Folder structure
  • Update source code
  • Tools mapping
  • ROS bag data migration

API REFERENCE

• C++ API
  • cyber/node/node.h
  • cyber/node/reader.h
  • cyber/node/writer.h