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!