7e4b5460c2
* CI: change build worlflow image tag from v20240927 to latest * feat/plugins: Add echo plugin - Add echo plugin for message pass-through and logging - Implement loading and management of different types of support packages - Add support for multi-threaded executors - Optimize log initialization and management logic - Add support for YAML configuration files * build: Update build scripts and enable Echo plugin - Add build options for Echo plugin in build.bat, build.sh, test.bat, and test.sh scripts - Optimize JSON serialization error handling and log output in echo_plugin.cc * chore: Add Echo plugin related documentation - Update release notes with Echo plugin feature description - Add Echo plugin usage documentation - Add Echo plugin example configuration and running instructions * chore: format the code - Add thread safety checks for Echo executor - Optimize code structure to improve readability and maintainability * choro: restructure JSON parsing logic - Replace json-c with jsoncpp library - Rewrite json_to_yaml function to improve code readability and robustness * choro: adapt CMakeLists for Windows compatibility * choro : turn off the echo plugin in windows * feat(echo_plugin): Support YAML format message echo - Modify GetYamlCpp.cmake to enable yaml-cpp installation - Add yaml_convert.h and yaml_convert_test.cc in ros2_util - Update echo_plugin to support YAML format message serialization and deserialization - Add YAML serialization type support in aimrt_module_ros2_interface * choro: Fix documentation * choro : fix format and delete the extra support for echo about pb message type * choro : format * choro: add ros2 example for echo plugin and delete useless code * choro: rename the echo example shell * choro: fix some mistake * chore: refactor type support package loader and migrate to core module - Migrate TypeSupportPkgLoader from echo_plugin and record_playback_plugin to core/util directory - Optimize log output, replace printf with AIMRT_INFO * choro: replace the aimrt::common::util::AimRTException() to AIMRT_ASSERT --------- Co-authored-by: yuguanlin <yuguanlin@agibot.com>
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2.6 KiB
Tutorials
快速开始
通过此部分文档，您可以了解到如何引用、安装 AimRT，并通过创建一个Hello World程序来快速体验 AimRT。
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quick_start/installation_cpp.md
quick_start/installation_py.md
quick_start/helloworld_cpp.md
quick_start/helloworld_py.md
概念
通过此部分文档，您可以了解到 AimRT 中的一些核心概念和设计思想。
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concepts/cmake.md
concepts/concepts.md
concepts/core_design.md
concepts/interface.md
CPP接口文档
您可以通过以下文档了解 C++ 接口的用法。
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interface_cpp/common.md
interface_cpp/runtime.md
interface_cpp/core_ref.md
interface_cpp/module_base.md
interface_cpp/configurator.md
interface_cpp/executor.md
interface_cpp/logger.md
interface_cpp/parameter.md
interface_cpp/channel.md
interface_cpp/rpc.md
Python接口文档
您可以通过以下文档了解 Python 接口的用法。
:maxdepth: 1
interface_py/common.md
interface_py/runtime.md
interface_py/core_ref.md
interface_py/module_base.md
interface_py/configurator.md
interface_py/executor.md
interface_py/logger.md
interface_py/channel.md
interface_py/rpc.md
配置文档
您可以通过以下文档了解各个组件详细的配置方法。
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cfg/common.md
cfg/module.md
cfg/configurator.md
cfg/plugin.md
cfg/main_thread.md
cfg/guard_thread.md
cfg/executor.md
cfg/log.md
cfg/channel.md
cfg/rpc.md
插件
AimRT 提供了大量官方插件，您可以通过以下文档了解各个插件的功能和配置方法。
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plugins/net_plugin.md
plugins/mqtt_plugin.md
plugins/ros2_plugin.md
plugins/parameter_plugin.md
plugins/time_manipulator_plugin.md
plugins/log_control_plugin.md
plugins/opentelemetry_plugin.md
plugins/record_playback_plugin.md
plugins/zenoh_plugin.md
plugins/iceoryx_plugin.md
plugins/grpc_plugin.md
plugins/echo_plugin.md
如果开发者想定制开发自己的插件，可以参考以下文档。
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plugins/how_to_dev_plugin.md
CLI工具
AimRT 提供了一个命令行工具，可以帮助开发者快速完成一些操作。
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cli_tool/cli_tool.md
cli_tool/gen_prj.md
cli_tool/bagtrans_tool.md
示例
AimRT 提供了详细且全面的示例，开发者可以基于示例进行深入学习。
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examples/examples_cpp.md
examples/examples_py.md
examples/examples_plugins.md
其他
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misc/perfomance.md
misc/questions.md