minhanghuang / cyberrt Goto Github PK

您好，环境是ubuntu22.04 + python3.10，talker和listener正常运行，cyber工具运行会报错。

按照项目Readme文档
cyber_launch start启动common.launch时 报错
`dev@dev-virtual-machine:~/work/CyberRT-8.0.0/build$ cyber_launch start share/examples/common.launch
[cyber_launch_89175] INFO Launch file [/home/dev/work/CyberRT-8.0.0/build/share/examples/common.launch]
[cyber_launch_89175] INFO ========================================================================================================================
[cyber_launch_89175] INFO Load module [common] library: [common] [CYBER_DEFAULT] conf: [/apollo/cyber/examples/common_component_example/common.dag] exception_handler: []
[common ] mainboard: error while loading shared libraries: libglog.so.0: cannot open shared object file: No such file or directory
[cyber_launch_89175] INFO Start process [common] successfully. pid: 89177
[cyber_launch_89175] INFO ------------------------------------------------------------------------------------------------------------------------
[cyber_launch_89175] ERROR Process [common] has died [pid 89177, exit code 127, cmd mainboard -d /apollo/cyber/examples/common_component_example/common.dag -p common -s CYBER_DEFAULT].
[cyber_launch_89175] INFO All processes has died.
[cyber_launch_89175] INFO Cyber exit.
[cyber_launch_89175] INFO All processes have been stopped.

dev@dev-virtual-machine:~/work/CyberRT-8.0.0/build$ `

大佬您好！
我编了一个使用cyberRT api的一系列代码文件，同时引用了一个本地第三方库，在编译时遇到了困难（第一次编译这种大型项目）。
观察 cyber/examples 的示例，发现示例项目既使用了Bazel Build，也使用了CmakeList.txt，想问一下该项目是用Bazel构建protobuf文件，再用Cmake构建整体项目的吗？

ast-rtps-1.5.0-1.prebuilt.aarch64.tar.gz

看起来是个debug版本的文件,大小将近38m

cc_library(
name = "lidar_detection_component",
srcs = ["lidar_detection_component.cc"],
hdrs = ["lidar_detection_component.h"],
deps = [
"//cyber",
"//modules/common/util:util_tool",
"//modules/perception/common/sensor_manager",
"//modules/perception/lib/registerer",
"//modules/perception/lidar/app:lidar_obstacle_detection",
"//modules/perception/lidar/common",
"//modules/perception/lidar/lib/detector/cnn_segmentation:cnn_segmentation",
"//modules/perception/lidar/lib/detector/ncut_segmentation:ncut_segmentation",
"//modules/perception/lidar/lib/detector/point_pillars_detection:point_pillars_detection",
"//modules/perception/lidar/lib/ground_detector/spatio_temporal_ground_detector",
"//modules/perception/lidar/lib/interface",
"//modules/perception/lidar/lib/object_builder",
"//modules/perception/lidar/lib/object_filter_bank/roi_boundary_filter",
"//modules/perception/lidar/lib/roi_filter/hdmap_roi_filter",
"//modules/perception/lidar/lib/scene_manager/ground_service",
"//modules/perception/lidar/lib/scene_manager/roi_service",
"//modules/perception/onboard/common_flags",
"//modules/perception/onboard/inner_component_messages:lidar_inner_component_messages",
"//modules/perception/onboard/proto:lidar_component_config_cc_proto",
"//modules/perception/onboard/transform_wrapper",
"@eigen",
],
alwayslink = True,
在apollo源码中deps直接添加//cyber即可，您使用cmake构建的需要添加什么路径才能依赖cyber呢

CPack: Create package using DEB
CPack: Install projects
CPack: - Run preinstall target for: cyber
CPack: - Install project: cyber
CMake Error at /home/andy/CyberRT/build/cyber/tools/cmake_install.cmake:41 (file):
file INSTALL cannot find
"/home/andy/CyberRT/build/bin/cyber/tools/cyber_service/cyber_monitor".
Call Stack (most recent call first):
/home/andy/CyberRT/build/cmake_install.cmake:118 (include)

CPack Error: Error when generating package: cyber
Makefile:85: recipe for target 'package' failed
make: *** [package] Error 1

这边用vmware+docker+qemu拉取的镜像，想尝试编译大佬的CbyerRT，但是遇到几个问题
1）使用sudo docker pull --platform linux/amd64 multiarch/qemu-user-static
sudo docker run --rm --privileged multiarch/qemu-user-static --reset -p yes
sudo docker pull arm64v8/ubuntu
sudo docker run -it --rm --name arm-container --platform linux/arm64/v8 arm64v8/ubuntu /bin/bash,可以成功编译大佬的CyberRT并在arm64v8的容器里运行
2）问题出现，在目标板上运行会提示libc.so.6,libstdc++.so版本过高。查看arm64v8的容器，发现apt源默认选择的是jammy（22.04）版本；如果apt源选择bionic（18.04），则会无法update，提示NO PUBKEY；先用默认的jammy源更新后，安装gpg，然后add key，此时再切换bionic源可以成功update，但是会提示libc6(2.27=3ubuntu1.6)等需要安装新版本2.35-0ubuntu3.1，符合目标板子的旧版本不会被安装
3）麻烦大佬给点建议，有没有18.04的arm64v8的虚拟机，能成功update出低版本的libc6的？
4）或者能否给点建议，我最开始是在x64上面交叉编译大佬的工程，但是一直编译不过，哪条路比较好走呢？谢谢

How can I modify the ’/opt/cyber/env/lib/‘ path to complile the cyber?

most different is example. some important files is different, but just add some function.
I worry about a chagnes about the conf.

截取了一部分报错情况，请问可以帮忙看一下问题出在哪儿吗？
/home/wgc/CyberRT/build/cyber/proto/cyber_conf.pb.cc: In member function ‘void apollo::cyber::proto::CyberConfig::InternalSwap(apollo::cyber::proto::CyberConfig*)’: /home/wgc/CyberRT/build/cyber/proto/cyber_conf.pb.cc:456:23: error: ‘class google::protobuf::internal::InternalMetadata’ has no member named ‘InternalSwap’ 456 | _internal_metadata_.InternalSwap(&other->_internal_metadata_); | ^~~~~~~~~~~~ /home/wgc/CyberRT/build/cyber/proto/cyber_conf.pb.cc: In member function ‘virtual google::protobuf::Metadata apollo::cyber::proto::CyberConfig::GetMetadata() const’: /home/wgc/CyberRT/build/cyber/proto/cyber_conf.pb.cc:467:12: error: ‘::_pbi’ has not been declared 467 | return ::_pbi::AssignDescriptors( | ^~~~ /home/wgc/CyberRT/build/cyber/proto/cyber_conf.pb.cc:468:8: error: ‘descriptor_table_cyber_2fproto_2fcyber_5fconf_2eproto_getter’ was not declared in this scope; did you mean ‘descriptor_table_cyber_2fproto_2fcyber_5fconf_2eproto’? 468 | &descriptor_table_cyber_2fproto_2fcyber_5fconf_2eproto_getter, &descriptor_table_cyber_2fproto_2fcyber_5fconf_2eproto_once, | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | descriptor_table_cyber_2fproto_2fcyber_5fconf_2eproto /home/wgc/CyberRT/build/cyber/proto/cyber_conf.pb.cc:468:71: error: ‘descriptor_table_cyber_2fproto_2fcyber_5fconf_2eproto_once’ was not declared in this scope; did you mean ‘descriptor_table_cyber_2fproto_2fcyber_5fconf_2eproto’? 468 | &descriptor_table_cyber_2fproto_2fcyber_5fconf_2eproto_getter, &descriptor_table_cyber_2fproto_2fcyber_5fconf_2eproto_once, | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | descriptor_table_cyber_2fproto_2fcyber_5fconf_2eproto /home/wgc/CyberRT/build/cyber/proto/cyber_conf.pb.cc:469:7: error: ‘file_level_metadata_cyber_2fproto_2fcyber_5fconf_2eproto’ was not declared in this scope; did you mean ‘TableStruct_cyber_2fproto_2fcyber_5fconf_2eproto’? 469 | file_level_metadata_cyber_2fproto_2fcyber_5fconf_2eproto[0]); | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ | TableStruct_cyber_2fproto_2fcyber_5fconf_2eproto In file included from /home/wgc/CyberRT/cyber/proto/record.pb.h:24, from /home/wgc/CyberRT/build/cyber/proto/record.pb.cc:4: /usr/local/include/google/protobuf/arena.h: In instantiation of ‘static T* google::protobuf::Arena::CreateMessageInternal(google::protobuf::Arena*) [with T = apollo::cyber::proto::SingleIndex]’: /home/wgc/CyberRT/build/cyber/proto/record.pb.cc:3547:83: required from here /usr/local/include/google/protobuf/arena.h:464:14: error: invalid new-expression of abstract class type ‘apollo::cyber::proto::SingleIndex’ 464 | return new T(); | ^~~~~~~ /usr/local/include/google/protobuf/arena.h: In instantiation of ‘static T* google::protobuf::Arena::CreateMessageInternal(google::protobuf::Arena*) [with T = apollo::cyber::proto::ChunkHeaderCache]’: /home/wgc/CyberRT/build/cyber/proto/record.pb.cc:3551:88: required from here /usr/local/include/google/protobuf/arena.h:464:14: error: invalid new-expression of abstract class type ‘apollo::cyber::proto::ChunkHeaderCache’ /usr/local/include/google/protobuf/arena.h: In instantiation of ‘static T* google::protobuf::Arena::CreateMessageInternal(google::protobuf::Arena*) [with T = apollo::cyber::proto::ChunkBodyCache]’: /home/wgc/CyberRT/build/cyber/proto/record.pb.cc:3555:86: required from here /usr/local/include/google/protobuf/arena.h:464:14: error: invalid new-expression of abstract class type ‘apollo::cyber::proto::ChunkBodyCache’ /usr/local/include/google/protobuf/arena.h: In instantiation of ‘static T* google::protobuf::Arena::CreateMessageInternal(google::protobuf::Arena*) [with T = apollo::cyber::proto::ChannelCache]’: /home/wgc/CyberRT/build/cyber/proto/record.pb.cc:3559:84: required from here /usr/local/include/google/protobuf/arena.h:464:14: error: invalid new-expression of abstract class type ‘apollo::cyber::proto::ChannelCache’ /usr/local/include/google/protobuf/arena.h: In instantiation of ‘static T* google::protobuf::Arena::CreateMessageInternal(google::protobuf::Arena*) [with T = apollo::cyber::proto::SingleMessage]’: /home/wgc/CyberRT/build/cyber/proto/record.pb.cc:3563:85: required from here /usr/local/include/google/protobuf/arena.h:464:14: error: invalid new-expression of abstract class type ‘apollo::cyber::proto::SingleMessage’ /usr/local/include/google/protobuf/arena.h: In instantiation of ‘static T* google::protobuf::Arena::CreateMessageInternal(google::protobuf::Arena*) [with T = apollo::cyber::proto::Header]’: /home/wgc/CyberRT/build/cyber/proto/record.pb.cc:3567:78: required from here /usr/local/include/google/protobuf/arena.h:464:14: error: invalid new-expression of abstract class type ‘apollo::cyber::proto::Header’ /usr/local/include/google/protobuf/arena.h: In instantiation of ‘static T* google::protobuf::Arena::CreateMessageInternal(google::protobuf::Arena*) [with T = apollo::cyber::proto::Channel]’: /home/wgc/CyberRT/build/cyber/proto/record.pb.cc:3571:79: required from here /usr/local/include/google/protobuf/arena.h:464:14: error: invalid new-expression of abstract class type ‘apollo::cyber::proto::Channel’ /usr/local/include/google/protobuf/arena.h: In instantiation of ‘static T* google::protobuf::Arena::CreateMessageInternal(google::protobuf::Arena*) [with T = apollo::cyber::proto::ChunkHeader]’: /home/wgc/CyberRT/build/cyber/proto/record.pb.cc:3575:83: required from here /usr/local/include/google/protobuf/arena.h:464:14: error: invalid new-expression of abstract class type ‘apollo::cyber::proto::ChunkHeader’ /usr/local/include/google/protobuf/arena.h: In instantiation of ‘static T* google::protobuf::Arena::CreateMessageInternal(google::protobuf::Arena*) [with T = apollo::cyber::proto::ChunkBody]’: /home/wgc/CyberRT/build/cyber/proto/record.pb.cc:3579:81: required from here /usr/local/include/google/protobuf/arena.h:464:14: error: invalid new-expression of abstract class type ‘apollo::cyber::proto::ChunkBody’ /usr/local/include/google/protobuf/arena.h: In instantiation of ‘static T* google::protobuf::Arena::CreateMessageInternal(google::protobuf::Arena*) [with T = apollo::cyber::proto::Index]’: /home/wgc/CyberRT/build/cyber/proto/record.pb.cc:3583:77: required from here /usr/local/include/google/protobuf/arena.h:464:14: error: invalid new-expression of abstract class type ‘apollo::cyber::proto::Index’ In file included from /home/wgc/CyberRT/cyber/proto/cyber_conf.pb.h:24, from /home/wgc/CyberRT/build/cyber/proto/cyber_conf.pb.cc:4: /usr/local/include/google/protobuf/arena.h: In instantiation of ‘static T* google::protobuf::Arena::CreateMessageInternal(google::protobuf::Arena*) [with T = apollo::cyber::proto::CyberConfig]’: /home/wgc/CyberRT/build/cyber/proto/cyber_conf.pb.cc:479:83: required from here /usr/local/include/google/protobuf/arena.h:464:14: error: invalid new-expression of abstract class type ‘apollo::cyber::proto::CyberConfig’ 464 | return new T(); | ^~~~~~~ make[2]: *** [CMakeFiles/cyber.dir/build.make:230：CMakeFiles/cyber.dir/cyber/proto/record.pb.cc.o] 错误 1 make[2]: *** [CMakeFiles/cyber.dir/build.make:146：CMakeFiles/cyber.dir/cyber/proto/cyber_conf.pb.cc.o] 错误 1 make[1]: *** [CMakeFiles/Makefile2:190：CMakeFiles/cyber.dir/all] 错误 2 make: *** [Makefile:156：all] 错误 2

仓库中只提供了prebuilt的fast-rtps-1.5.0-1版本，需要源码编译，下载Fast-DDS-1.5.0版本，使用script下面的path打path报错如下，
error: patch failed: thirdparty/fastcdr/include/fastcdr/Cdr.h:726
error: thirdparty/fastcdr/include/fastcdr/Cdr.h: patch does not apply
error: patch failed: thirdparty/fastcdr/src/cpp/Cdr.cpp:570
error: thirdparty/fastcdr/src/cpp/Cdr.cpp: patch does not apply
请问有prebuilt的fast-rtps-1.5.0-1版本对应的源码吗？

I want to use cyberRT in a arm platform. how to cross compile for arm. only need to set some gcc and g++ option in the CMAKELIST?

Hello,Is there any guide for build CyberRT used in Android System?

I am not familiar wiht CMAKE.

Thanks in advance~

我按照README的操作步骤，最后编译报错如下，请问大佬这个是什么导致的呢，protobuf版本是3.14.0

error: ‘class apollo::cyber::proto::Header’ has no member named ‘ByteSizeLong’; did you mean ‘ByteSize’?
if (static_cast<int64_t>(message->ByteSizeLong()) != size) {
~~~~~~~~~^~~~~~~~~~~~
ByteSize
/home/xiangdong/CyberRT/cyber/record/file/record_file_reader.h:86:64: error: ‘class apollo::cyber::proto::Header’ has no member named ‘ByteSizeLong’; did you mean ‘ByteSize’?
<< ", expect: " << size << ", actual: " << message->ByteSizeLong();
~~~~~~~~~^~~~~~~~~~~~
ByteSize

编译环境:
wsl2 的 ubuntu2204, 建议以下修改

同时 cmakelist也需要修改

您好，打扰您了，我看您之前在apollo的issue中评论fastrtps发送\0出问题，您说需要patch，我这边使用的patch，但是还是出现这个问题，但是我的平台是risc-v，想请教您一下，patch的需要做相应的适配吗？或者说您的代码里面的patch是否可以解决该问题呢？期待您的解答，非常感谢

楼主，请教一个问题：使用apollo 提供的bazel工具编译cyber，并生成相关so。在另外CMake工程中编译Demo并链接相关cyber的so，理论上可以吗

pxb@pxb-Lenovo:/ssd/pxb/code/SWE-1.0/CyberRT/build$ cyber_channel list
WARNING: Logging before InitGoogleLogging() is written to STDERR
I0307 18:49:05.804024 5432 class_loader_utility.h:79] []registerclass:Circle,Base,
I0307 18:49:05.804076 5432 class_loader_utility.h:79] []registerclass:Rect,Base,
I0307 18:49:05.804085 5432 class_loader_utility.h:79] []registerclass:Triangle,Base,
I0307 18:49:05.804090 5432 class_loader_utility.h:79] []registerclass:Star,Base,
I0307 18:49:05.804097 5432 class_loader_utility.h:79] []registerclass:Apple,Base,
I0307 18:49:05.804103 5432 class_loader_utility.h:79] []registerclass:Pear,Base,
I0307 18:49:05.804108 5432 class_loader_utility.h:79] []registerclass:Banana,Base,
I0307 18:49:05.804114 5432 class_loader_utility.h:79] []registerclass:Peach,Base,
I0307 18:49:05.947216 5432 global_data.cc:153] [cyber_py]host ip: 10.10.1.59
W0307 18:49:05.947680 5432 scheduler_factory.cc:63] [cyber_py]Scheduler conf named /ssd/pxb/code/SWE-1.0/CyberRT/build/share/conf/python3.6_5432.conf not found, use default.
I0307 18:49:05.947868 5435 processor.cc:42] [cyber_py]processor_tid: 5435
I0307 18:49:05.947942 5436 processor.cc:42] [cyber_py]processor_tid: 5436
I0307 18:49:05.948025 5437 processor.cc:42] [cyber_py]processor_tid: 5437
I0307 18:49:05.948139 5438 processor.cc:42] [cyber_py]processor_tid: 5438
I0307 18:49:05.948195 5439 processor.cc:42] [cyber_py]processor_tid: 5439
I0307 18:49:05.948314 5440 processor.cc:42] [cyber_py]processor_tid: 5440
I0307 18:49:05.948341 5441 processor.cc:42] [cyber_py]processor_tid: 5441
I0307 18:49:05.948436 5442 processor.cc:42] [cyber_py]processor_tid: 5442
I0307 18:49:05.948498 5443 processor.cc:42] [cyber_py]processor_tid: 5443
I0307 18:49:05.948520 5444 processor.cc:42] [cyber_py]processor_tid: 5444
I0307 18:49:05.948556 5445 processor.cc:42] [cyber_py]processor_tid: 5445
I0307 18:49:05.948591 5446 processor.cc:42] [cyber_py]processor_tid: 5446
I0307 18:49:05.948621 5447 processor.cc:42] [cyber_py]processor_tid: 5447
I0307 18:49:05.948650 5448 processor.cc:42] [cyber_py]processor_tid: 5448
I0307 18:49:05.948676 5449 processor.cc:42] [cyber_py]processor_tid: 5449
W0307 18:49:05.948700 5432 environment.h:33] [cyber_py]Environment variable [sysmo_start] not set, fallback to
I0307 18:49:05.948701 5450 processor.cc:42] [cyber_py]processor_tid: 5450
I0307 18:49:05.948716 5432 init.cc:113] [cyber_py]Register exit handle succ.
I0307 18:49:05.948729 5432 py_cyber.h:58] [cyber_py]cyber init succ.
The number of channels is: 0

大佬你好，我的arm版的cyberrt是基于你这个工程，通过arm docker编译出来的动态链接库；
然后我的工程里面使用了cyebrrt，cmake参数DEBUG出来的可执行程序，在arm环境中能够正常使用（收发消息）。但是cmake 参数为release的时候，在arm环境中发送消息正常，当我打运行接收程序，就会报错（段错误）。我也尝试了，只启动接收程序（先不启动发送程序），是不会报错的，但是只要启动发送程序，就会报同样的错误。
不知道是什么原因导致的

完成 README.md 要求的操作后，仍然存在问题。 我能做什么来修复它？

hello, test the cyber_example_listener and cyber_example_listener is ok, and cyber_monitor is ok,
but get error by using the cyber_channel list :

➜  build git:(v8.0.0) source setup.zsh 
➜  build git:(v8.0.0) cyber_channel list
Traceback (most recent call last):
  File "/home/mini/researches/cyber_rt_8/CyberRT/build/bin/cyber_channel", line 23, in <module>
    from cyber.python.cyber_py3 import cyber_time
ModuleNotFoundError: No module named 'cyber.python'

What can I do? Thanks a lot.

楼主您好，在v8.0.0分支下，按照您的RM步骤进行安装测试，运行cyber_service info test_server和cyber_node list会报错，原本为尝试解决但是没找到思路，信息如下：

liuliyuan@liuliyuan-T14:~/Liuliyuan/github/CyberRT/build$ cyber_node list WARNING: Logging before InitGoogleLogging() is written to STDERR I0707 11:09:53.656744 362564 class_loader_utility.h:79] []registerclass:Circle,Base, I0707 11:09:53.656818 362564 class_loader_utility.h:79] []registerclass:Rect,Base, I0707 11:09:53.656833 362564 class_loader_utility.h:79] []registerclass:Triangle,Base, I0707 11:09:53.656844 362564 class_loader_utility.h:79] []registerclass:Star,Base, I0707 11:09:53.656857 362564 class_loader_utility.h:79] []registerclass:Apple,Base, I0707 11:09:53.656867 362564 class_loader_utility.h:79] []registerclass:Pear,Base, I0707 11:09:53.656877 362564 class_loader_utility.h:79] []registerclass:Banana,Base, I0707 11:09:53.656888 362564 class_loader_utility.h:79] []registerclass:Peach,Base, Traceback (most recent call last): File "/home/liuliyuan/Liuliyuan/github/CyberRT/build/bin/cyber_node", line 24, in <module> from cyber.proto.role_attributes_pb2 import RoleAttributes File "/home/liuliyuan/Liuliyuan/github/CyberRT/build/lib/python3.8/site-packages/cyber/proto/role_attributes_pb2.py", line 17, in <module> DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x15role_attributes.proto\x12\x12\x61pollo.cyber.proto\x1a\x1d\x63yber/proto/qos_profile.proto\"&\n\nSocketAddr\x12\n\n\x02ip\x18\x01 \x01(\t\x12\x0c\n\x04port\x18\x02 \x01(\r\"\xe0\x02\n\x0eRoleAttributes\x12\x11\n\thost_name\x18\x01 \x01(\t\x12\x0f\n\x07host_ip\x18\x02 \x01(\t\x12\x12\n\nprocess_id\x18\x03 \x01(\x05\x12\x11\n\tnode_name\x18\x04 \x01(\t\x12\x0f\n\x07node_id\x18\x05 \x01(\x04\x12\x14\n\x0c\x63hannel_name\x18\x06 \x01(\t\x12\x12\n\nchannel_id\x18\x07 \x01(\x04\x12\x14\n\x0cmessage_type\x18\x08 \x01(\t\x12\x12\n\nproto_desc\x18\t \x01(\x0c\x12\n\n\x02id\x18\n \x01(\x04\x12\x33\n\x0bqos_profile\x18\x0b \x01(\x0b\x32\x1e.apollo.cyber.proto.QosProfile\x12\x33\n\x0bsocket_addr\x18\x0c \x01(\x0b\x32\x1e.apollo.cyber.proto.SocketAddr\x12\x14\n\x0cservice_name\x18\r \x01(\t\x12\x12\n\nservice_id\x18\x0e \x01(\x04') TypeError: Couldn't build proto file into descriptor pool: Depends on file 'cyber/proto/qos_profile.proto', but it has not been loaded

电脑上的python版本如下：
python3 --version
Python 3.8.10
python --version
Python 2.7.18

楼主有空的时候能帮忙看一下吗？谢谢 ^_^

您好，我执行source setup.bash 之后，还是提示cyber_launch: command not found

hi ,
scripts/install.sh :

if [[ "${ARCH}" == "x86_64" ]]; then
    PKG_NAME="fast-rtps-1.5.0-1.prebuilt.x86_64.tar.gz"
  else # aarch64
    PKG_NAME="fast-rtps-1.5.0-1.prebuilt.aarch64.tar.gz"
  fi
  DOWNLOAD_LINK="https://apollo-system.cdn.bcebos.com/archive/6.0/${PKG_NAME}"
  if [ -e $INSTALL_PATH/$PKG_NAME ]
  then
    echo ""
  else
    wget $DOWNLOAD_LINK -P $INSTALL_PATH
  fi

1. I notice that fastrtps is a prebuild version, is it because of any special changes?
2. If I want to cross-compile CyberRT to another platform, should I download the source code of fastrtps-1.5.0 and recompile with my cross-compile toochain？

look forward to your reply!