Ah your mistake was going for ROS 2 which is by any objective metric a complete trainwreck compared to ROS 1. Am a maintainer for a package in both, AMA. The m

Ah your mistake was going for ROS 2 which is by any objective metric a complete trainwreck compared to ROS 1. Am a maintainer for a package in both, AMA. The move_base stack in ROS 1 was pretty bad overall, but if you made your own navigation it ran really well and was pretty bulletproof as a middleware for the most part (changing network conditions ahem ahem). Nav2 in ROS 2 is better, but it's really hard to tell because the DDS is so unreliable and rclpy is so slow that it's usually impossible to tell why it's only working half the time for no reason. Defaults are bad and pitfalls are everywhere. Incidentally this makes the entire thing unreliable even if you implement your own stuff so.. yeah. We'll see if Zenoh fixes any of this when it's finally out and common sense prevails over DDS cargo culting. Personally I'm not entirely convinced we won't see a community fork of Noetic gain some popularity after it's EoL. There is some effort to add Rust support, but it's just a community effort because OpenRobotics is completely understaffed. Google bought them and then they sort forgot they exist. There's only like 4 core devs in total. That's mainly why they're treating python as a second class citizen.