[charleskinbote]

My experiences with ROS have mostly been klunky. The documentation is really sub par, the Python portions completely highjack the logging module, and (if my memory serves me) the messages types aren't backwards compatible like other IDLs and so it can be a maintenance nightmare. I also felt like it was too easy to outgrow, like when wanting to communicate using something other than ROS messages, or upgrading the codebase to a C++ version that ROS noetic doesn't support.

[darkspine]

What tools did you switch to once you outgrew ROS? Did you have to develop a system from scratch or was there a different protocol you built on?

Also, despite the lack of official support, I've found ROS noetic to work with even c++20. Granted my use cases might have been much simpler, but I haven't found that to be an issue.