I will say the default network-transparency of ROS is probably more of a long-term hindrance than a help to applications built on top of it. A lot of projects w

I will say the default network-transparency of ROS is probably more of a long-term hindrance than a help to applications built on top of it. A lot of projects would get a lot further if they were designed from the outset with clear boundaries where network communication was required (and what can be done to deal with what that implies), and it would be nice if components intended to be used in those systems were designed to be composed with that in mind, instead of requiring a network-based pub-sub system with not particularly great latency or reliability guarantees, even if it has a mode where those are tightened up a lot.