CppCon 2026

To navigate safely, a robot must simultaneously ingest high-frequency sensor data, compute complex spatial algorithms, and publish control commands. Historically, frameworks like ROS 2 have handled this via asynchronous callbacks. However, as autonomous stacks scale, relying heavily on unstructured callbacks can obscure control flow, making state synchronization difficult and robust task cancellation notoriously complex.

This talk explores how to transform unstructured, callback-based architectures in a robotics navigation stack into declarative pipelines using structured concurrency (specifically, C++ Senders and Receivers via stdexec). Attendees will dive into two real-world architectural examples: a collision monitor and a waypoint follower, showcasing readable logic pipelines, thread-hopping between an event loop and a static thread pool, and clean task cancellation.

As legacy C++ codebases evolve to meet new requirements, fix architectural issues, and address performance bottlenecks, refactoring becomes inevitable — but full rewrites are risky, costly, and rarely practical. This talk explores how modern C++ features — especially functional programming techniques and type erasure — can be used to refactor and extend legacy systems. We will present a concrete, low-risk, and measurable four-step technical framework for incremental modernization, by leveraging pure functions, discriminated union types, and type-erased callables to achieve safer, more flexible code with compile-time guarantees, even in traditionally object-oriented codebases.

The core of the talk will walk through the entire process on a concrete code example, illustrating (1) how to isolate existing logic, (2) define safer data models using immutable types, (3) deploy type erasure to create a robust, non-disruptive adapter boundary between old and new code, and (4) measurably execute the migration with safe testing practices. We will also share lessons learned from real-world experience and conclude by showing how these foundational patterns can be extended into future-thinking designs, leveraging examples with accepted C++26 features. Every step is grounded in real production constraints and trade-offs, and the techniques transfer directly to any domain where full rewrites are not an option. Attendees will walk away equipped with practical strategies to incrementally refactor your legacy systems without sacrificing stability or velocity.