As a lead developer in a ROS-based project, I'm not sure whether we'll adopt ROS2 in a couple of years or abandon it altogether. It seems like with ROS2 support

As a lead developer in a ROS-based project, I'm not sure whether we'll adopt ROS2 in a couple of years or abandon it altogether. It seems like with ROS2 supporting integrated CMake builds will be a lot more difficult, and in our company we strongly prefer monorepos and integrated builds due to ease of debugging and optimization. On the other hand, ROS2 aims to provide RTOS support and pluggable transport layers, which are rather serious benefits. Also, their decision to abandon XML-based roslaunch is the right one: we had to roll out our own startup infrastructure as well, as it's much more convenient to have a definite init order with sequential checks and waits e.g. for hardware availability.