On Modern C++

This projects mainly deals with rclcpp, the C++ client library of ROS 2. C++ is a quite complicated and troublesome language. This section records some bad experiences we had with C++ and how Modern C++ may (or may not) solve these issues.

• std::thread and std::jthread
  • A simple example (that doesn’t shutdown correctly)
  • Shutdown threads correctly with std::thread
  • std::jthread in C++20
  • std::stop_token