Apollo: Cyber transport mode

[daohu527]

System information

• Apollo version 3.5:

Steps to reproduce the issue:

Recently I used ros-bridge to let the simulator communicate with apollo for emulation. It works well for ros because it supports multi-machine communication. I know that appllo 3.5 will use "cyber" instead of ros. Does "cyber" supports multiple computer communication through socket?
I found the transfer mode supported by "cyber":

enum OptionalMode {
  HYBRID = 0;
  INTRA = 1;
  SHM = 2;
  RTPS = 3;
}

What is the difference between them? I can't find any documentation about them. Could you pls offer some doc, or I can contribute some in the future. Thank you!

[zhongjunni]

CyberRT supports cross-host communication.
You can follow fengqikai1414 's answer in this issue: https://github.com/ApolloAuto/apollo/issues/7050#issuecomment-468584667

Thanks for your question.

[natashadsouza]

Closing this issue as it appears to be resolved. Feel free to reopen if you have additional questions. Thanks!

[ZeusJupiter]

Cyber can support multiple computer communication. Please modify the CYBER_IP in "apollo-install-dir/cyber/setup.bash", and make sure that the "CYBER_IP" of each computer is the ip of each computer， eg. the CYBER_IP of computer A is the ip of computer A.

[daohu527]

@ZeusJupiter Thx I have learn a lot this days.