3 ms·
At the end what ROS provides for that cost, is a IPC, Logging, configuration and a startup tree (through launch system). Waaaay too expensive. - We have moved
by f1shy 2y ago
At the end what ROS provides for that cost, is a IPC, Logging, configuration and a startup tree (through launch system). Waaaay too expensive.
- We have moved to standard sockets IPC, or protocol buffers.
- For logging just trivial printing.
- For configuration to libconfig
- For launch system to simple shell scripts.
- carlmr 2y agoThe beauty with using protobuf, libconfig or whatever is that they're libraries. If you find a better RPC/messaging library for your needs it's easy to replace one library, if you find a better config management you replace one library, if you want better logging you replace one library. I despise the framework approach, it ossifies bad decisions and then it becomes a monumental task to move away from the framework, because now you need to replace everything.
- f1shy 2y agoAbsolutely! The system is completely modular, and single pieces can be changed.