一、下载源码：
git clone https://github.com/eclipse-iceoryx/iceoryx.git
二、安装编译依赖库
sudo apt install git build-essential cmake libacl1-dev libcurses5-dev pck-config
三、编译：
cmake -Bbuild -Hiceoryx_meta -DBUILD_SHARED_LIBS=ON -DEXAMPLES=ON -DINTROSPECTION=ON
cmake --build build -j8
四、安装：
sudo cmake --build build --target install
sudo ldconfig
五、测试验证：
1. 基本的收发功能，需要3个终端分别运行：router，subscriber，publisher
（1）iox-roudi
2026-02-23 16:01:20.229 [Info ]: No config file provided and also not found at '/etc/iceoryx/roudi_config.toml'. Falling back to built-in config.
2026-02-23 16:01:20.340 [Info ]: Resource prefix: iox1
2026-02-23 16:01:20.340 [Info ]: Domain ID: 0
2026-02-23 16:01:20.340 [Info ]: RouDi is ready for clients
（2）iceoryx/build/iceoryx_examples/icedelivery：iox-cpp-publisher
2026-02-23 16:11:31.542 [Info ]: Domain ID: 0
iox-cpp-publisher sent values: 90, 145, 234, 1, 378
iox-cpp-publisher sent values: 91, 146, 235, 2, 379
iox-cpp-publisher sent values: 92, 147, 236, 3, 380
iox-cpp-publisher sent values: 93, 148, 237, 4, 381
（3）iceoryx/build/iceoryx_examples/icedelivery：iox-cpp-subscriber
2026-02-23 16:10:59.373 [Info ]: Domain ID: 0
iox-cpp-subscriber got value: 106
iox-cpp-subscriber got value: 161
iox-cpp-subscriber got value: 250
iox-cpp-subscriber got value: 17
iox-cpp-subscriber got value: 394
iox-cpp-subscriber got value: 107
iox-cpp-subscriber got value: 162
iox-cpp-subscriber got value: 251
iox-cpp-subscriber got value: 18
iox-cpp-subscriber got value: 395
iox-cpp-subscriber got value: 108
iox-cpp-subscriber got value: 163
2. 测试收发延迟
（1）iox-roudi
（2）iceoryx/build/iceoryx_examples/iceperf：iceperf-bench-follower
2026-02-23 16:13:55.792 [Info ]: Domain ID: 0
Waiting for PerfSettings from leader application!
****** ICEORYX ********
Waiting for: subscription, subscriber [ success ]
Waiting for: unsubscribe [ finished ]
（3）iceoryx/build/iceoryx_examples/iceperf：iceperf-bench-leader -n 100000 -t iceoryx-cpp-api
2026-02-23 16:13:37.972 [Warn ]: IPC channel still there, doing an unlink of 'iox1_0_u_iceperf-bench-leader'
2026-02-23 16:13:37.975 [Info ]: Domain ID: 0
****** ICEORYX ********
Waiting for: subscription, subscriber [ success ]
Measurement for: 16 [B], 32 [B], 64 [B], 128 [B], 256 [B], 512 [B], 1 [kB], 2 [kB], 4 [kB], 8 [kB], 16 [kB], 32 [kB], 64 [kB], 128 [kB], 256 [kB], 512 [kB], 1 [MB], 2 [MB], 4 [MB]
Waiting for: unsubscribe [ finished ]
Measurement Result
100000 round trips for each payload.
| Payload Size | Average Latency [µs] |
|---|---|
| 16 [B] | 1.2 |
| 32 [B] | 1.2 |
| 64 [B] | 1.2 |
| 128 [B] | 1.2 |
| 256 [B] | 1.2 |
| 512 [B] | 1.2 |
| 1 [kB] | 1.2 |
| 2 [kB] | 1.2 |
| 4 [kB] | 1.2 |
| 8 [kB] | 1.2 |
| 16 [kB] | 1.2 |
| 32 [kB] | 1.2 |
| 64 [kB] | 1.2 |
| 128 [kB] | 1.2 |
| 256 [kB] | 1.2 |
| 512 [kB] | 1.2 |
| 1 [MB] | 1.2 |
| 2 [MB] | 1.2 |
| 4 [MB] | 1.2 |
Finished!