As someone trying to convert/integrate Robotics research results into production code, I found this spot on. There is no real incentive for researchers to write

As someone trying to convert/integrate Robotics research results into production code, I found this spot on. There is no real incentive for researchers to write decently structured/reusable code. There is another cartoon laying out WillowGarage's strategy to counter this effect (http://www.willowgarage.com/sites/default/files/blog/201004/willow_p2_01s.c.jpg http://www.willowgarage.com/sites/default/files/blog/201004/... ) I am not entirely convinced, but an interesting read nonetheless.