1.安装

1.安装依赖

sudo apt-get install uuid-dev libboost-all-dev libpoco-dev libgoogle-glog-dev python-dev python-setuptools python-pip 
sudo dpkg -i bros_1.3.0_amd64.deb cmake_3.15.4_amd64.deb cyber-bzl_5.0.0_amd64.deb fastrtps-bzl_1.5.0_amd64.deb protobuf-bzl_3.6.1_amd64.deb

sudo python easy_install protobuf-3.6.1-py2.7.egg

easy_install

#!/usr/bin/python
# EASY-INSTALL-ENTRY-SCRIPT: 'setuptools==20.7.0','console_scripts','easy_install'
__requires__ = 'setuptools==20.7.0'
import sys
from pkg_resources import load_entry_point

if __name__ == '__main__':
    sys.exit(
        load_entry_point('setuptools==20.7.0', 'console_scripts', 'easy_install')()
    )

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2.构建

打开终端

测试protobuf安装成功没：

protoc --version

libprotoc 3.6.1

libprotobuf.so->libprotobuf.so.3.6.1

export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH
cd examples
mkdir build
cd build
cmake ../ -DCMAKE_PREFIX_PATH=/opt/bros
make

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3.运行

/opt/cyber/setup.bash
./talker # 运行talker
./listener # 运行listener

4.使用action

# 使用Action

复制examples/proto目录下的fibonacci.proto，改为带上你自己的Action名字的protobuf文件，如TestAction.proto

仅仅修改Goal，Result和Feedback部分，其他不要动

```proto
syntax = "proto2";

message Fibonacci // 这里改成你自己的如TestAction
{
    // App definition
    message Goal
    {
        // 这部分改为你自己的Goal定义
        required int32 order = 1;
    }
    message Result
    {
        // 这部分改为你自己的Result定义
       repeated int32 sequence = 1;
    }
    message Feedback
    {
        // 这部分改为你自己的Feedback定义
        repeated int32 sequence = 1;
    }

    // Impl definition
    message Impl
    {
        // Common
        message Time
        {
            required int32 sec = 1;
            required uint32 nanosec = 2;
        }
        message GoalInfo
        {
            required bytes goal_id = 1;
            required Time stamp = 2;
        }
        message GoalStatus
        {
            required GoalInfo goal_info = 1;
            required int32 status = 2;
        }
        // Goal Service
        message SendGoalService
        {
            message Request
            {
                required bytes goal_id = 1;
                required Goal goal = 2;
            }
            message Response
            {
                required Time stamp = 1;
                required bool accepted = 2;
            }
        }
        // CancelGaol service
        message CancelGoalService
        {
            message Request
            {
                required GoalInfo goal_info = 1;
            }
            message Response
            {
     required int32 return_code = 1;
            }
        }
        // Result Service
        message GetResultService
        {
            message Request
            {
                required bytes goal_id = 1;
            }
            message Response
            {
                required bytes goal_id = 1;
                required int32 status = 2;
                required Result result = 3;
            }
        }
        // Feedback publisher
        message FeedbackMessage
        {
            required bytes goal_id = 1;
            required Feedback feedback = 2;
        }
        // GoalStatus publisher
        message GoalStatusMessage
        {
            repeated GoalStatus status_list = 1;
        }
    }
}
```

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