Code Generation from Unified Robot Description Format (URDF) for Accelerated Robotics
Talkat CppCon 2024 · on Friday, 2024-09-20· at 14:45· Spruce 3/4, 6700 North Gaylord Rockies Boulevard·
summary
Code generation translates URDF into tight, compile-time C++ (via Python + Jinja) and integrates with CMake to produce fixed-size, stack-allocated FK/IK routines; benchmarks compare the generated code to KDL and show concrete wins: FK drops from ~350 ns to ~37.5 ns, IK from ~119 µs to ~5.8 µs, and a CUDA kernel reaches ~7.48 ns when memory transfers are removed. Uses concrete tools and numbers, URDF → optimized C++, CMake + Jinja + Python codegen, FK 350 ns → 37.5 ns, IK 119 µs → 5.8 µs.
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chapters (8)
- 0:00Introduction and background
- 3:36Robotics motion planning
- 7:04Motivation for code generation
- 10:58Library build process
- 20:51Code and interface design
- 25:37Implementation details
- 30:49Performance results
- 35:25Lessons and Q&A
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