IMO, the main benefit of ROS is the message definitions. Having exactly one definition of "point cloud" that everybody accepts means everyone's code will be com

IMO, the main benefit of ROS is the message definitions. Having exactly one definition of "point cloud" that everybody accepts means everyone's code will be compatible. That isn't normally the case in library ecosystems. If ROS was replaced by <robotics_types.hpp> I think we'd get 90% of the benefit.