1. Install

1. install dependencies

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. Building

Open a terminal

Protobuf did not test the installation was successful:

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. Run

/opt/cyber/setup.bash
. / Talker run talker #
. / Listener running listener #

 4. Use action

# Use Action

Copy examples / fibonacci.proto in proto directory instead bring your own Action protobuf file name, such as TestAction.proto

Only modify Goal, Result and Feedback section, the other not to move

```proto
syntax = "proto2";

Fibonacci the Message // here into your own as TestAction 
{
     // App Definition 
    the Message. Goal
    {
        // This part of your own Goal changed the definition 
        required the Order Int32 = 1 ;
    }
    message Result
    {
        // This part of your Result changed the definition of 
       a REPEATED Int32 Sequence = 1 ;
    }
    message Feedback
    {
        // This part of your Feedback changed the definition of 
        a 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;
        }
    }
}
```