I used to use ROS 1 for work. It is incredibly over-engineered. Somewhere in the code base there is a three level hierarchy wrapping a shared pointer to double.

I used to use ROS 1 for work. It is incredibly over-engineered. Somewhere in the code base there is a three level hierarchy wrapping a shared pointer to double. The actual address is configured using an xml file. The purpose? To “abstract” the commanded torque ultimately sent to a motor.