Using modern C++ is frowned upon by many working in safety critical and real time systems. We show our efforts to bring modern C++ into this new field on the example of a safe real time robotics framework for autonomous driving tightly integrated into ROS 2.
This talk introduces the main challenges and how we solved them: * Avoiding memory allocations during exception handling. * Memory pools for standard containers and best practices to avoid memory fragmentation. * Additions to the thread support library to make it suitable for real time applications.
