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Building Bridges: Leveraging C++ and ROS for Simulators, Sensor Data and Algorithms - CppCon 2023
Building bridges between C++ and ROS for simulators, sensor data, and algorithms, exploring determinism in simulation for reliable and reproducible testing, and discussing approaches, APIs, and libraries for achieving determinism.
- Building bridges between C++ and ROS (Robot Operating System) for simulators, sensor data, and algorithms
- Determinism in simulation: achieving reproducible testing and predictable behavior
- Challenges in deterministic execution: ordering, synchronization, and caching
- Introducing the executor: a coordinator that ensures fixed order execution
- How to make simulator software more deterministic: using APIs, set of execution properties, and DDS (Data Distribution Service)
- Importance of time determinism: ensuring consistent execution timing
- Limitations of determinism: not suitable for all scenarios, requires careful implementation
- Approaches to determinism: data determinism, time determinism, and fixed order execution
- Use cases for determinism: simulation, testing, and validation of robotic systems
- APIs and libraries for achieving determinism: C++, DDS, and ROS
- Simulator bridges: translating between simulators and ROS applications
- Importance of reproducible testing: catching early functional bugs and ensuring reliable system behavior
- Open-source simulators: IPG CarMaker, Carla, and others
- Real-time performance and scalability: ensuring timely execution and handling large datasets
- Cross-platform compatibility: using C++ and DDS for seamless integration across systems
- Challenges in distributed systems: ensuring determinism across multiple nodes and processes