“C++ in Open Source Robotics"
summary
OSRF presents a working ROS 2 alpha: C++11 client libraries, DDS replacing TCP transport, node objects (not process-bound), and an Executor that can use injected memory strategies for real‑time safety. Prototype benchmark runs an inverted‑pendulum control loop at 1 kHz for ~2 hours: average jitter well below target, but a bimodal distribution yields a max jitter slightly over the 3% threshold. Gazebo is 50k+ LOC, ~1,000 downloads/month, supports ODE/Bullet/DART/Simbody, OGRE rendering, SDF worlds, and C++ plugins (load/init/reset callbacks) used for drone animation and GUI controls.
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chapters (15)
- 0:00Introduction to OSRF
- 1:05Overview of ROS
- 2:39ROS Statistics and Impact
- 3:47How ROS Messages Work
- 6:06Introduction to ROS 2
- 8:33ROS 2 API Changes
- 12:08ROS 2 Architecture
- 13:20Real-Time Support in ROS 2
- 16:50Memory Management for Real-Time
- 20:45Benchmarking ROS 2 Real-Time
- 25:38Cross-Platform Challenges
- 30:26Introduction to Gazebo
- 34:48Gazebo Structure and Plugins
- 36:57Developing Gazebo Plugins
- 44:21Demo and Q&A
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