[discreteevent]

The architecture of the ROS system is worth looking at if you haven't seen it. Everything has a URL and processes communicate using YAML messages by publishing or osubscribing to topics. (Its very simple but a bit more liberating than REST!)

http://wiki.ros.org/ROS/Tutorials/UnderstandingNodes

http://wiki.ros.org/ROS/Tutorials/UnderstandingTopics

http://wiki.ros.org/ROS/Tutorials/UnderstandingServicesParam...

[Qworg]

ROS is being rewritten right now - 2.0 alpha is out.

http://design.ros2.org https://github.com/ros2/ros2