platforms, all build systems and compilers 5 Conan Documentation, Release 2.0.17 1.5 Stable From Conan 2.0 and onwards, there is a commitment to stability, with the goal of not breaking user space while evolving using Conan 1.X, please read the Conan 2 Migration guide , to start preparing your package recipes to 2.0 and be aware of some changes while you still work in Conan 1.X. That guide summarizes the above mentioned config install, and have layers of commands and sub- commands. The custom user commands use the new 2.0 public Python API to implement their functionality. 2.6 New CLI Conan 2 has redesigned the CLI for

Outline ● Introduction ● Overview of ROS 2 ● ROS 2 Conventional Approach ● Introduction to Functional Programming Principles ● Refactoring using Functional Programming Principles ● ConclusionIntroductionAbout System (ROS) is the de facto middleware of choice across robotics academia and industry Why use Robot Operating System? Clip taken from: https://robots.ros.org/● Robot Operating System (ROS) is the ● According to the ROS 2022 Metrics Report, more than 740 companies use ROS! Why use Robot Operating System? Clip taken from: https://robots.ros.org/● Robot Operating System (ROS) is the de facto middleware

Apex.Alan, Apex.Ray are trademarks of Apex.AI. CppCon 2023 Building bridges: Leveraging C++ and ROS for simulators, sensor data and algorithms Divya Aggarwal October 5, 2023© 2023 Apex.AI, Inc. | 1. ROS and simulators 2. What is missing? 3. Our proposal© 2023 Apex.AI, Inc. | All rights reserved. Apex.AI, Apex.OS, Apex.Grace, Apex.Ida, Apex.Alan, Apex.Ray are trademarks of Apex.AI. ROS and simulators© Apex.Grace, Apex.Ida, Apex.Alan, Apex.Ray are trademarks of Apex.AI. Back to basics — ROS ROS & simulators 5 ROS is an open-source Robot Operating System 1. A set of software libraries and tools that

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185 6.12 ROS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . platforms, all build systems and compilers 5 Conan Documentation, Release 2.10.1 1.5 Stable From Conan 2.0 and onwards, there is a commitment to stability, with the goal of not breaking user space while evolving using Conan 1.X, please read the Conan 2 Migration guide , to start preparing your package recipes to 2.0 and be aware of some changes while you still work in Conan 1.X. That guide summarizes the above mentioned

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184 6.11 ROS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . platforms, all build systems and compilers 5 Conan Documentation, Release 2.9.3 1.5 Stable From Conan 2.0 and onwards, there is a commitment to stability, with the goal of not breaking user space while evolving using Conan 1.X, please read the Conan 2 Migration guide , to start preparing your package recipes to 2.0 and be aware of some changes while you still work in Conan 1.X. That guide summarizes the above mentioned

system ● Cross-platform ● Memory Management 35Library used to implement plugin architecture in ROS projects• Robot Operating System • Set of libraries and tools to help build robotic applications communicate between nodes using topics What is ROS? Image from https://docs.ros.org/en/rolling/Tutorials/Beginner-CLI-Tools/Understanding-ROS2-Nodes/Understanding- ROS2-Nodes.html 37• Network layer communication • Need plugins for performance • In a perfect world, ROS would not require plugins Why use plugins over nodes? 38• Defacto Plugin Manager for ROS projects • Built on top of class_loader, rcpputils and

format • Requires lots of run-time decisions • Generally maintained by a corporate entity • ROS and ROS 2 ecosystem (Open Robotics/ Intrinsic) • Drake (TRI) • Ignition and Gazebo (Open Robotics/Intrinsic) Locking primitives that block • Optimize for CPU and memory budgets, missed deadlines https://design.ros2.org/articles/realtime_background.htmlWhy C++ is Great for Real-Time Robotics • isocpp and --Wpedantic

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 2 Conan migration guide to 2.0 7 2.1 Migrating the recipes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . CONAN MIGRATION GUIDE TO 2.0 Tip: Conan 2.0 is already released, you can install the latest Conan version from PyPI doing: $ pip install conan If you want to migrate to 2.0, there are several things Conan 2.0. There are 2.0 features ported to Conan 1.X so you can get a compatible recipe with 2.0 using Conan 1.X. Please be aware that although the recipes can be compatible between Conan 1.X and 2.0, the

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 2 Conan migration guide to 2.0 7 2.1 Migrating the recipes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . CONAN MIGRATION GUIDE TO 2.0 Tip: Conan 2.0 is already released, you can install the latest Conan version from PyPI doing: $ pip install conan If you want to migrate to 2.0, there are several things Conan 2.0. There are 2.0 features ported to Conan 1.X so you can get a compatible recipe with 2.0 using Conan 1.X. Please be aware that although the recipes can be compatible between Conan 1.X and 2.0, the

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 2 Conan migration guide to 2.0 7 2.1 Migrating the recipes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . CONAN MIGRATION GUIDE TO 2.0 Tip: Conan 2.0 is already released, you can install the latest Conan version from PyPI doing: $ pip install conan If you want to migrate to 2.0, there are several things Conan 2.0. There are 2.0 features ported to Conan 1.X so you can get a compatible recipe with 2.0 using Conan 1.X. Please be aware that although the recipes can be compatible between Conan 1.X and 2.0, the