One of my pet peeves with the algorithm/science ecosystem surrounding ros is that almost all of these algorithms are not usable without ROS. Deep down inside so

One of my pet peeves with the algorithm/science ecosystem surrounding ros is that almost all of these algorithms are not usable without ROS. Deep down inside some planning algorithm, you find ros data structures, ros publishers etc. This is poorly designed code. It's like letting raw SQL queries infect an entire ecosystem of libraries. IMO, this pattern is holding robotics back. Two examples come to mind of packages that do NOT do this: 1. plotjuggler [1], which is a tool for plotting time serious data. It can connect to ROS, but also supports many other communication paradigms, like mqtt, zeroMQ, websockets, custom data and some more I forget. 2. nvblox, which at its core doesn't depend on ROS but instead provides a ros2 compatibility layer. [1] https://github.com/facontidavide/PlotJuggler https://github.com/facontidavide/PlotJuggler [2] https://github.com/nvidia-isaac/nvblox?tab=readme-ov-file#c-interface https://github.com/nvidia-isaac/nvblox?tab=readme-ov-file#c-... [3] https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_nvblox https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_nvblox