> Robot Operating System ... Does it make things easier or harder? Some things. Pub/sub over ROS topics makes it easy to introspect and check on what is being

> Robot Operating System ... Does it make things easier or harder? Some things. Pub/sub over ROS topics makes it easy to introspect and check on what is being published, why which node and at what frequency, bandwidth, who is subscribed etc. For orchestration there are launch files that can also start ROS node son other machines in the network.