[moffkalast]

Yep it takes super long to get parameters from all nodes cause you need to query each one instead of the DDS caching it or something.

And yeah I forgot, there's the added annoying bit where you can't build custom messages/services with python packages, only ament_cmake can do it so you often need metapackages for no practical reason. And the whole deal with the default build mode being "copy all" so you need to rebuild every single time if you don't symlink, and even that often doesn't work. The defaults are all around impressively terrible, adding extra pitfalls in places where there were none in ROS 1.