Apollo: Is Apollo Cyber RT centralized arch? If the answer is yes, once Cyber RT carshed, the whole system crash. Baidu ROS before is decentralization, so the scenario discussed here would not happen.

[KevinYuk]

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[KitFung]

Apollo Cyber RT have no centrailzed node. It is used two mechanism for the cross-process data transport - shared memory and rtps.
Both mechanism doesn't require a master node to monitor the data transport.

If the process for specific module crash, it will just affect that modules instead of the entire system.

you can see my article for some detail.
https://blog.csdn.net/weixin_44450715/article/details/86314193
https://blog.csdn.net/weixin_44450715/article/details/86479466

[KevinYuk]

Hi @KitFung,

Thanks for you quick reply. I understand it once I see keyword "RTPS" above.

Thanks a lot.

[Zhenni17]

Closing the issue.

[CCodie]

Hi @KitFung , can I get some information or documents about Cyber RT in English ?
And I wonder when the Apollo Team will upload the materials about Cyber RT.
Thanks !