Henrik Larsen, Andrzej Wąsowski (IT University of Copenhagen)
RxROS is new C++ API for ROS based on the paradigm of reactive programming. Reactive programming is an alternative to callback-based programming, sometimes dubbed ‘concurrency-made-easy’. This micro tutorial will present the problems of asynchronous programming with callbacks and locks (the standard ROS API). We will argue for declarative program structure based on data-flow and on simple transformations of messages. We will demonstrate advantages on small code examples in a how-to style, using fragments of two simple ROS nodes for tele-operation of a mobile base. RxROS is available open source under a BSD license. The project seeks users and contributors
Video presented at ROSCon 2019. More details and slides are available at: roscon.ros.org/2019/.